EP4005948A1 - Method for controlling warehouse robot to store and retrieve inventory material - Google Patents
Method for controlling warehouse robot to store and retrieve inventory material Download PDFInfo
- Publication number
- EP4005948A1 EP4005948A1 EP20847847.9A EP20847847A EP4005948A1 EP 4005948 A1 EP4005948 A1 EP 4005948A1 EP 20847847 A EP20847847 A EP 20847847A EP 4005948 A1 EP4005948 A1 EP 4005948A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- inventory
- handling device
- material handling
- instructing
- inventory material
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000463 material Substances 0.000 title claims abstract description 464
- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000012545 processing Methods 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 description 14
- 230000001360 synchronised effect Effects 0.000 description 13
- 230000007246 mechanism Effects 0.000 description 11
- 230000008569 process Effects 0.000 description 8
- 230000035939 shock Effects 0.000 description 8
- 239000006096 absorbing agent Substances 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 206010000210 abortion Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0421—Storage devices mechanical using stacker cranes with control for stacker crane operations
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device
- G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisions for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
- B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
- B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/122—Platforms; Forks; Other load supporting or gripping members longitudinally movable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
- B66F9/141—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements with shuttle-type movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/19—Additional means for facilitating unloading
- B66F9/195—Additional means for facilitating unloading for pushing the load
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/20—Control system inputs
- G05D1/24—Arrangements for determining position or orientation
- G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
- G05D1/2446—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means the passive navigation aids having encoded information, e.g. QR codes or ground control points
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/60—Intended control result
- G05D1/656—Interaction with payloads or external entities
- G05D1/667—Delivering or retrieving payloads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0014—Gripping heads and other end effectors having fork, comb or plate shaped means for engaging the lower surface on a object to be transported
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0216—Codes or marks on the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2105/00—Specific applications of the controlled vehicles
- G05D2105/20—Specific applications of the controlled vehicles for transportation
- G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2107/00—Specific environments of the controlled vehicles
- G05D2107/70—Industrial sites, e.g. warehouses or factories
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D2109/00—Types of controlled vehicles
- G05D2109/10—Land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Definitions
- the present invention relates to the field of intelligent warehousing, and in particular, to a method for controlling a warehouse robot to store and fetch inventory materials.
- Machines have been used in a warehouse to transport goods from the warehouse to a shipping dock, or vice versa.
- machines were mainly used to carry heavy goods or large materials to save humans from exhausting labor.
- the latest developments in artificial intelligence and robotics have produced advanced machines. These machines seek to replace humans in both the industrial environment and a lot of areas of daily life.
- a fully automated machine may accept an order, fetch a material from the warehouse, and transport the material to a designated place, which is more fantastic than reality.
- Some well-known systems such as a Kiva system, can complete simple mechanical movement of large shelves from one designated position to another designated position.
- the function of a full-automatic system for example, extracting an inventory material from the designated shelf and storing the inventory material in the warehouse, realizing navigation in a crowded warehouse filled with obstacles, and processing the inventory materials whose positions have been transferred, has not yet been implemented in a commercial warehouse robot system.
- the present invention is intended to provide a method for controlling a warehouse robot to store and fetch inventory materials, so that the warehouse robot can store and fetch the inventory material as instructed.
- the warehouse robot system disclosed herein is flexible, efficient, and fault-tolerant, and is especially suitable for use in a warehouse stacked with shelves.
- a method for controlling a warehouse robot to store and fetch inventory materials is provided.
- the inventory materials on a shelf are arranged in a front row and a back row.
- the method includes: receiving an instruction of transporting a first inventory material; acquiring positioning information of the first inventory material from the received instruction, where the positioning information of the first inventory material includes a position, a depth, and an orientation of the first inventory material, where the depth of the first inventory material indicates that the first inventory material is located in the back row; instructing the warehouse robot to move to the position of the first inventory material; detecting whether a second inventory material is located in the front row of the first inventory material; extending a material handling device to the back row to acquire the first inventory material if no second inventory material exists in the front row; fetching the second inventory material from the front row and placing the second inventory material on an empty first tray if the second inventory material exists in the front row; fetching the first inventory material from the back row and placing the first inventory material on an empty
- the position of the first inventory material includes coordinates and a height of the first inventory material; and the instructing the warehouse robot to move to the position of the first inventory material includes: instructing the warehouse robot to move to a position near the coordinates of the first inventory material; and instructing the material handling device to rise or fall to the height of the first inventory material.
- the instructing the warehouse robot to move to the position of the first inventory material further includes: instructing the material handling device to rotate to the orientation of the first inventory material.
- the first inventory material or the second inventory material is set as a designated material
- the fetching the first inventory material or the fetching the second inventory material includes: instructing the warehouse robot to acquire a relative position of the designated inventory material to the material handling device; calculating a position deviation of the designated inventory material based on the relative position of the designated inventory material to the material handling device; adjusting a posture of the warehouse robot to compensate for the position deviation of the designated inventory material; and instructing the material handling device to extend out.
- the fetching the first inventory material or the fetching the second inventory material further includes: after adjusting the posture of the warehouse robot and before the material handling device extending out, instructing the warehouse robot to acquire the relative position of the designated inventory material to the material handling device again, updating the relative position of the designated inventory material to the material handling device in a database, recalculating the position deviation of the designated inventory material based on the updated relative position, and readjusting the posture of the warehouse robot according to the recalculated position deviation.
- the fetching the first inventory material or the fetching the second inventory material further includes: after adjusting the posture of the warehouse robot and before the material handling device extending out, determining whether the material handling device is to collide with the shelf when extending out.
- the material handling device is instructed to rise and fall to read an identification code of the shelf, relative position of the material handling device to the shelf are acquired according to the identification code of the shelf, and it is determined, according to the relative position of the material handling device to the shelf, whether the material handling device is to collide with the shelf when extending out.
- the designated inventory material is the first inventory material
- the instructing the material handling device to extend out includes: instructing the material handling device to extend to the front row; instructing the warehouse robot to acquire a relative position of the first inventory material to the material handling device; calculating the position deviation of the designated inventory material based on the relative position of the first inventory material to the material handling device; adjusting the posture of the warehouse robot to compensate for a position deviation of the first inventory material; and instructing the material handling device to continue to extend to the back row.
- the instructing the material handling device to extend out further includes: instructing the material handling device to continue to extend out by a preset distance if the warehouse robot fails to acquire the relative position of the first inventory material to the material handling device, and instructing the warehouse robot to acquire the relative position of the first inventory material to the material handling device again during the extension of the material handling device.
- the instructing the material handling device to extend out further includes: after adjusting the posture of the warehouse robot and before the material handling device continuing to extend to the back row, instructing the warehouse robot to acquire the relative position of the first inventory material to the material handling device again, updating the relative position of the first inventory material to the material handling device in a database, recalculating the position deviation of the first inventory material based on the updated relative position, and readjusting the posture of the warehouse robot according to the recalculated position deviation.
- the relative position of the designated inventory material to the material handling device are acquired by instructing the material handling device to capture image information of the designated inventory material and by processing the image information according to an image difference algorithm.
- the relative position of the designated inventory material to the material handling device are acquired by an identification code of the designated inventory material read by the material handling device.
- the material handling device if the material handling device fails to read the identification code of the designated inventory material, the material handling device is instructed to repeatedly rise and fall by a preset amplitude, and during the rise and fall of the material handling device, the material handling device is instructed again to read the identification code of the designated inventory material.
- the material handling device when the material handling device successfully reads the identification code of the designated inventory material, it is determined whether the identification code is upside down.
- the adjusting a posture of the warehouse robot includes: adjusting a chassis of the warehouse robot, and/or rotating the material handling device if the identification code of the designated inventory material within a field of view of the material handling device is not complete, so that the identification code of the designated inventory material within a field of view of a camera is more complete.
- the method for controlling a warehouse robot to store and fetch inventory materials provided in this application, by instructing the material handling device to fetch the inventory materials and storing the inventory materials in the trays, the inventory materials can be extracted from a designated shelf and stored in a warehouse, navigation is realized in a crowded warehouse filled with obstacles, and the inventory materials whose positions have been transferred can be processed.
- the shelf may be arranged in a front row and a back row, thereby reducing the area occupied by the shelf in the warehouse, and facilitating the fetching of hidden inventory materials.
- an automatic guided vehicle (AGV) 100 of one embodiment includes a driving unit 110, a multi-level shelf 120, and a material handling device 130.
- the driving unit 110 is configured to drive and propel the AGV 100.
- the multi-level shelf 120 includes one or more flat plates 122 and a lifting device 124.
- the lifting device 124 is connected to the material handling device 130 and may lift or lower the material handling device 130.
- the material handling device 130 includes a tray, a lateral device, and a telescopic device, which are to be explained in subsequent sections of the present disclosure.
- FIG. 2 is an exploded view of the AGV 100 according to one embodiment.
- FIG. 2 shows internal components within a housing 202.
- the multi-level shelf 120 is shown to include a vertical frame 226, a bracket 228 supporting the flat plate 122, and the lifting device 124.
- FIG. 3 illustrates more details of the vertical frame 226 and the lifting device 124.
- the bracket 226 includes two vertical posts 315 and a plurality of vertical rods 316.
- the lifting device 124 includes two synchronous wheel driving devices 343 and a lifting driving mechanism 342.
- the two synchronous wheel driving devices 343 are mounted to the vertical posts 315.
- the lifting device 124 may include more than two synchronous wheel driving devices 343.
- each of the synchronous wheel driving devices 343 includes a tensioning wheel 331, a driving synchronous wheel 330, and a synchronous belt 332.
- the synchronous wheel driving device 343 is connected to the lifting driving mechanism 342.
- the lifting driving mechanism 342 drives the driving synchronous wheel 330 to move the belt 332, so as to lift the material handling device 130 up and down the multi-level shelf 120.
- the lifting driving mechanism 342 of one embodiment includes a motor 320, a driving shaft 321, and a gear box 322.
- the motor 320 may be replaced with a hydraulic transmission system or a pneumatic motor or any other type of motor.
- the driving shaft 321 connects the driving synchronous wheel 330 to the motor 320 through the gear box 322, and transmits kinetic energy of the motor 320 to the driving synchronous wheel 330 to drive the lifting device 124.
- the driving shaft 321 is connected to two driving synchronous wheels (not shown) to ensure that the two driving synchronous wheels move synchronously.
- two balancing blocks 333 are mounted to a top of the multi-level shelf 120.
- the balancing blocks 333 are movable along the vertical post 315, and may control and buffer the movement and momentum of the lifting device 124.
- the lifting device 124 is implemented as a synchronous wheel driving system. Other mechanisms using chain wheels, gears and racks, worm gears, and/or lifting screws may also be used for implementing the lifting device 124.
- the driving device 110 is disassembled in FIG. 2 . Details of the driving device 110 are shown in the exploded view of the driving device 110 in FIG. 4 .
- the driving unit 110 in FIG. 4 includes a base 422, a shaft seat 415, and a shock absorber bracket 425.
- the vertical post 315 is fixed to the base 422, so as to mount the multi-level shelf 120 to the driving device 110.
- the base has two surfaces, one upper surface 421, and one lower surface 420.
- the shaft seat 415 and the shock absorber bracket 425 are used to accommodate two driving wheels 413 through a driving wheel groove 426 and a mounting groove 424.
- the mounting groove 424 is located in the middle of the base 422, and the two driving wheels 413 are located below the mounting groove 424 to support the base 422.
- Four driven wheels 412 are also mounted to four corners of the base 422 to provide support and facilitate movement.
- the four driven wheels 412 are mounted in the driving wheel groove 426. In some embodiments, more or less than four driven wheels may be mounted.
- the driven wheel may be a universal wheel or other types of steering wheels.
- FIG. 5 illustrates one embodiment of the driving wheel 413.
- the driving wheel 413 includes a driving wheel bracket 530, a driving wheel body 531, a hub driving device 532, and a hub reduction gear 533.
- the driving wheel bracket 530 includes a pair of hub brackets 534, a shaft body 535, and a pair of shock absorbers 536.
- the hub driving device 532 is mounted to the middle of the driving wheel bracket 530 along a central shaft S2.
- the hub driving device 532 is connected to the driving wheel body 531 to provide a driving force for driving the driving wheel 413.
- the hub driving device 532 is located between the hub brackets 534.
- the two shock absorbers 536 are respectively located on one side of each hub bracket 534.
- the shock absorbers 536 are connected to the shock absorber bracket 425 shown in FIG. 4 through the mounting groove 424.
- the hub brackets 534 are connected to the shaft body 535, and the shaft body 535 is also connected to the shaft seat 415 through the mounting groove 424.
- Each shock absorber 536 and the each hub bracket 534 form an included angle. This structure may be used to absorb shock or eccentric forces, especially when the AGV 100 is turning.
- the hub driving device 532 may be a motor, a hydraulic transmission system, a pneumatic motor, or other types of motors.
- the AGV 100 of one embodiment includes the multi-level shelf 120 shown in FIG. 2 and FIG. 3 , the driving device 110 shown in FIG. 4 , and the material handling device 130 shown in FIG. 6a to FIG. 6d .
- the material handling device 130 is shown to include a tray 633, a robotic arm 632, a bracket 631, two slidable members 610, a camera 640, a main lighting device 641, and an auxiliary lighting device 642.
- Two robotic arms 632 are disposed. One robotic arm is disposed on each side of the tray. However, only one robotic arm is shown in FIG. 6 . Furthermore, only one of the two slidable members 610 is shown in FIG. 6a .
- the material handling device 130 may extend out or retract along S6 by means of the movement of the slidable member 610.
- the material handling device 130 may further be laterally movable.
- the material handling device 130 in order to achieve the lateral movement, is configured to be rotatable about S5.
- the material handling device 130 is configured to rotate the tray 633 to the left or right by 90°.
- the material handling device 130 in order to achieve the lateral movement, is configured to move the tray 633 to the left or right. In order to pan the tray 633, the material handling device 130 moves the tray 633 parallel to S7.
- the robotic arm 632 is configured to retract or extend out along the slidable member 610 and move the tray 633 along S6.
- the robotic arm 632 includes a telescopic arm 636 and a push rod assembly 637 for performing retraction and extension movements.
- FIG. 6b shows an exploded view of the material handling device 130 according to one embodiment. Five components of the material handling device 130 are depicted in an exploded view in FIG. 6b to show detailed parts in each component.
- the tray 633 is depicted on top of the slidable member 610. The tray 633 is moved to one side to expose the structure of the slidable member 610 in FIG. 6b .
- the slidable member 610 is connected to a rotary assembly 638 and a fork 639.
- the rotary assembly 638 is configured to rotate the tray 633 about S6. Details of the rotary assembly 638 are shown in FIG. 7 and explained as follows.
- the material handling device 130 pans the tray 633 instead of rotating the tray 633, as shown in FIG. 8 .
- the slidable member 610 is a part of the telescopic device provided in other embodiments of the present invention.
- the rotary assembly 638 is a part of a lateral device provided in other embodiments of the present invention. Another embodiment of the lateral device is shown in FIG. 8 .
- the push rod assembly 637 is shown to include a fixed push rod 670, a movable push rod 671, a driving device 672, and an inner arm section 662.
- the inner arm section 662 may be mounted in a middle arm section 661, and the middle arm section 661 may be mounted in an outer arm section 660.
- the driving device 672 may drive the movable push rod 671 to open or close relative to the inner arm section 662.
- the movable push rod 671 may be configured to move the inventory materials onto the tray 633 or away from the tray 633.
- a protective plate 635 shown in FIG. 6b is mounted around the tray 633 to prevent the contents of the tray 633 from falling off.
- FIG. 6c provides another enlarged view of the material handling device 130.
- Two outer arm sections 660 are each mounted to each side of the tray 633.
- the camera 640 and the main lighting device 641 are mounted to the front of the material handling device 130.
- FIG. 6c further depicts a first driving device 663 connected to the outer arm section 660.
- FIG. 6d depicts a second driving device 664 connected to the middle arm section 661.
- Any of the first driving device 663 and the second driving device 664 includes a telescopic driving device (3631 and 3641 respectively) and a chain wheel device (3630 and 3640 respectively).
- the first driving device 663 may include a chain wheel device
- the second driving device 664 may include a flat belt device (not shown).
- the first driving device 663 or the second driving device 664 may include an open-loop flat belt device (not shown) instead of the chain wheel device or the flat belt device, so as to facilitate the extension or retraction of the material handling device 130.
- the material handling device 130 is configured to rotate the tray 633 or pan the tray 633 to implement the lateral movement during storage or retrieval of one inventory material.
- the material handling device 130 capable of moving laterally to the interior of the shelf is particularly advantageous.
- the material handling device 130 may rotate the tray 633 when the AGV 100 moves between two shelves, or may move the tray 633 to the right side or the left side without rotating the entire AGV 100. Since the AGV 100 does not require a turning space, a space between the shelves may be as narrow as a width of the AGV 100. In this way, the AGV 100 requires less space than a conventional warehouse robot when moving between the shelves and picking up or storing inventory materials.
- FIG. 7 and FIG. 8 illustrate two embodiments for implementing lateral movement of the material handling device 130.
- FIG. 7 shows the rotary assembly 638 shown in FIG. 6b .
- the rotary assembly 638 includes a rotary driving device 712 and a positioning device 714.
- the rotary driving device 712 includes a driving motor (not shown) and a set of driving gears 724.
- the driving motor is, for example, an electric motor, a hydraulic transmission system, or a pneumatic motor.
- the driving gear is, for example, a worm gear mechanism, a planetary gear mechanism, or other types of gear structures.
- the positioning device 714 includes a first angle sensor 716, a second angle sensor 720, a first proximity switch 726, a second proximity switch 728, and a detection board 718.
- the positioning device 714 further includes a rotation controller not shown in FIG. 7 .
- the first angle sensor 716 and the second angle sensor 720 are located on the circumference of the driving gear 724 and are separated by a certain distance.
- the two sensors are configured to detect whether the tray 633 of the material handling device 130 has rotated to a designated position. Since the tray 633 is driven by the rotating driving device 712, the first proximity switch 726 and the second proximity switch 728 move together with the tray 633. Depending on a time in which a corresponding one of the first angle sensor 716 or the second angle sensor 720 detects a corresponding one of the first proximity switch 726 or the second proximity switch 728, an angular rotation amount of the tray 633 may be detected and controlled by the rotation controller.
- the rotation controller of FIG. 7 controls the robotic arm 632 and the tray 633 to rotate to the right or left by 90°, to provide lateral movement of the material handling device 130 to lateral reach the shelves on the right side or on the left side.
- FIG. 8 shows a mechanism different from the rotary assembly 638, and the rotary assembly 638 may also be configured to provide lateral movement to the tray 633.
- the robotic arm 632 includes two slidable mechanisms 852 and 854. 852 is used for X-axis motion, and 854 is used for Y-axis motion.
- the slidable mechanism 852 moves the robotic arm 632 to cause the robotic arm 632 to extend out or retract.
- the slidable mechanism 854 laterally moves the robotic arm 632 to the left side or the right side.
- two cameras 856 are mounted on two sides of the robotic arm 632 for optical detection.
- the device may be configured to rotate to the left or right by 90°, and the material handling device 130 driven by the system shown in FIG. 8 does not rotate, but only slides to the left side or the right side. Therefore, in FIG. 6a , only one camera 640 is required in front of the material handling device 130, while in FIG. 8 , two cameras 856 are mounted on two sides of the arm 632.
- FIG. 1 to FIG. 8 show an AGV 100 having advantages of agility and flexibility.
- FIG. 9 shows a flowchart of storing or fetching inventory materials by the AGV 100. For ease of description, FIG. 9 only shows the process of fetching the material. The storage procedures for inventory items are similar and are not described in detail for the sake of brevity. Those skilled in the art can obtain the process of storing the inventory material from the process of fetching the inventory material shown in FIG. 9 .
- the AGV 100 receives an instruction of fetching the inventory material from a warehouse shelf.
- the instruction may include only an identification code of the inventory material, and the AGV 100 uses the identification code to seek positioning information of the material.
- the instruction may include positioning information of the inventory material, and the AGV 100 may extract positioning information of a to-be-fetched material according to the instruction.
- the positioning information includes a position of the inventory material, for example, an x coordinate and a y coordinate (coordinates), a row number and a column number, or the like, and an orientation and a height of the inventory material, for example, a shelf level where the material is stored. Based on the position information of the material, the AGV 100 navigates around the warehouse and approaches the position of the inventory material.
- the main lighting device 641 is turned on (step 904).
- the AGV 100 attempts to read the identification code on the inventory material (step 906).
- the identification code may be a QR code. In other embodiments, the identification code may be any bar code.
- the AGV 100 fails to read the identification code, the AGV 100 reports the result to a server and aborts a task (step 950).
- a position deviation of the inventory material is calculated (step 908).
- the AGV 100 is configured to report, to the server, the position deviation of the inventory material obtained by the AGV (step 910).
- the server is configured to use the position deviation and a warehouse layout to determine an accurate position of the inventory material (step 912). Then the server updates a database of the server by using the accurate position of the inventory material (step 914).
- the AGV 100 further determines whether the material handling device 130 may directly reach the inventory material from a position of the AGV 100 (step 924). If so, the AGV 100 further adjusts or fine-tunes the posture of the material handling device 130 (step 932), and the material handling device 130 is caused to extend out during movement of the AGV 100 (step 934) to slightly adjust the relative position or orientation of the inventory material (step 936). If so, the AGV 100 further determines whether the tray 633 is within a preset range (step 922). If not, the AGV 100 slightly adjusts the position of the AGV (920) and attempts to read the identification code again (step 906).
- the AGV 100 adjusts the posture of the material handling device 130 and rotates the tray 633 (step 926).
- the identification code is read again to determine whether the position deviation is within a threshold range (step 928). If the position deviation is within the threshold range, the AGV 100 extends out the material handling device 130 to the inventory material (step 930). If the position deviation is inappropriate or within a preset threshold range, the AGV 100 extends out the material handling device (step 934) to adjust the posture of the AGV 100 and the relative position of the inventory materials (step 936).
- the AGV 100 is configured to find and fetch inventory materials hidden behind an object or another inventory material.
- the AGV 100 is configured to receive, from the server, an instruction indicating that positioning information of a first inventory material is to be acquired.
- the positioning information includes a position, a depth, and an orientation of the first inventory material. If no inventory material exists in a front row, the AGV 100 is configured to acquire the first inventory material from a back row of a shelf. If a second inventory material exists in the front row, the AGV 100 is configured to acquire a second inventory material and place the second inventory material on a first tray on a multi-level shelf 120, where the first tray is empty (step 1002).
- the AGV 100 then fetches the first inventory material and places the first inventory material on an empty second tray on a multi-layer shelf 120 (step 1004).
- the AGV 100 returns the second inventory material to the shelf after fetching the first inventory material (step 1006).
- two or more rows of inventory materials may be allowed to be placed or stored in the shelves used in a warehouse.
- the AGV 100 and the position information stored for each inventory material are modified or adjusted to adapt to double-row depth shelves.
- the AGV 100 first receives an instruction of transporting the first inventory material.
- the instruction may include the position of the first inventory material, for example, the position, the depth, and the orientation of the first inventory material. If the depth of the first inventory material indicates that the material is located in the front row of the shelf, the fetching process of the AGV 100 is the same as that previously described.
- the fetching process of the AGV 100 may require the AGV 100 to remove the inventory material in the front row to reach the first inventory material in the back row.
- the AGV 100 is configured to acquire the second inventory material in the front row and place the second inventory material on one empty tray, and then fetch the first inventory material from the back row and place the first inventory material on another empty tray. After that, the robot returns the material in the front row to the front row. In fact, if the AGV 100 is instructed to fetch the first inventory material and the second inventory material that happen to be in a same position but in different rows, the AGV 100 does not need to return the second inventory material to the shelf.
- the AGV 100 is configured to detect a position deviation of the first inventory material or the second inventory material and adjust the posture and the position of the AGV 100, the position of the first inventory material before reaching the shelf to obtain the first inventory material, and the position of the second inventory material before reaching the shelf to obtain the second inventory material. In one embodiment, the AGV 100 may repeat the position adjustment process until the detected position deviation is less than a threshold. In one embodiment, the AGV 100 is configured to report the location deviation to the server to allow the server to update a map of the warehouse. The map of the warehouse can show a layout, that is, the position of the shelf and a position where the inventory material is stored.
- the position of the first inventory material includes coordinates and a height of the first inventory material; and the instructing the warehouse robot to move to the position of the first inventory material includes: instructing the warehouse robot to move to a position near the coordinates of the first inventory material; and instructing the material handling device to rise or fall to the height of the first inventory material.
- the instructing the warehouse robot to move to the position of the first inventory material further includes: instructing the material handling device to rotate to the orientation of the first inventory material. If the material handling device can handle the inventory material only in one direction, the material handling device requires to be rotated, so that the inventory material is in the handling direction of the material handling device. In some other embodiments, by adjusting the position of the AGV 100, the inventory material is located in the handling direction of the material handling device, but it takes longer and is less efficient.
- the fetching the first inventory material or the fetching the second inventory material includes: instructing the warehouse robot to acquire a relative position of the designated inventory material to the material handling device; calculating a position deviation of the designated inventory material based on the relative position of the designated inventory material to the material handling device; adjusting a posture of the warehouse robot to compensate for the position deviation of the designated inventory material; and instructing the material handling device to extend out. It may be determined, according to the relative position of the inventory material to the material handling device, whether the material handling device can directly reach the inventory material.
- the fetching the first inventory material or the fetching the second inventory material further includes: after adjusting the posture of the warehouse robot and before the material handling device extending out, instructing the warehouse robot to acquire the relative position of the designated inventory material to the material handling device again, updating the relative position of the designated inventory material to the material handling device in a database, recalculating the position deviation of the designated inventory material based on the updated relative position, and readjusting the posture of the warehouse robot according to the recalculated position deviation.
- the fetching the first inventory material or the fetching the second inventory material further includes: after adjusting the posture of the warehouse robot and before the material handling device extending out, determining whether the material handling device is to collide with the shelf when extending out.
- the material handling device or the inventory material may be prevented from damage as a result of the collision of the material handling device colliding with the shelf after extending out. If it is determined that the material handling device collides with the shelf after extending out, an error mode is entered. In the error mode, the material handling device is reset and reoperates. After the reoperation, determination is performed again. If an error still exists, the error is reported to the server, and the operation is suspended.
- the material handling device is instructed to rise and fall and to an identification code of the shelf, relative position of the material handling device to the shelf are acquired according to the identification code of the shelf, and it is determined, according to the relative position of the material handling device to the shelf, whether the material handling device is to collide with the shelf when extending out.
- the identification code of the shelf is located above or below the inventory material. If the identification code of the shelf is located above the inventory material, the material handling device is instructed to rise to read the identification code of the shelf. Conversely, the material handling device is instructed to fall to read the identification code of the shelf.
- the designated inventory material is the first inventory material
- the instructing the material handling device to extend out includes: instructing the material handling device to extend out to the front row and stay for a preset time; instructing the warehouse robot to acquire a relative position of the first inventory material to the material handling device; calculating the position deviation of the designated inventory material based on the relative position of the first inventory material to the material handling device; adjusting the posture of the warehouse robot to compensate for a position deviation of the first inventory material; and instructing the material handling device to continue to extend to the back row.
- the material handling device extends out to the front row, a distance between the material handling device and the first inventory material is shortened, so as to improve the accuracy of the acquired relative position.
- the instructing the material handling device to extend out further includes: instructing the material handling device to continue to extend out by a preset distance if the warehouse robot fails to acquire the relative position of the first inventory material to the material handling device, and instructing the warehouse robot to acquire the relative position of the first inventory material to the material handling device again during the extension of the material handling device.
- the instructing the material handling device to extend out further includes: after adjusting the posture of the warehouse robot and before the material handling device continuing to extend to the back row, instructing the warehouse robot to acquire the relative position of the first inventory material to the material handling device again, updating the relative position of the first inventory material to the material handling device in a database, recalculating the position deviation of the first inventory material based on the updated relative position, and readjusting the posture of the warehouse robot according to the recalculated position deviation.
- the relative position of the designated inventory material to the material handling device are acquired by instructing the material handling device to capture image information of the designated inventory material and by processing the image information according to an image difference algorithm.
- the relative position of the designated inventory material to the material handling device are acquired by an identification code of the designated inventory material read by the material handling device.
- the material handling device if the material handling device fails to read the identification code of the designated inventory material, the material handling device is instructed to repeatedly rise and fall by a preset amplitude, and during the rise and fall of the material handling device, the material handling device is instructed again to read the identification code of the designated inventory material. If the identification code of the inventory material fails to be read again, the error mode is entered.
- the material handling device when the material handling device successfully reads the identification code of the designated inventory material, it is determined whether the identification code is upside down. If the identification code is upside down, report the result to the server to notify the staff to make corrections.
- the adjusting a posture of the warehouse robot includes: adjusting a chassis of the warehouse robot, and/or rotating the material handling device if the identification code of the designated inventory material within a field of view of the material handling device is not complete, so that the identification code of the designated inventory material within a field of view of a camera is more complete.
- the material handling device moves the inventory materials to the trays, so that the inventory materials can be extracted from a designated shelf and stored in a warehouse, navigation is realized in a crowded warehouse filled with obstacles, and the inventory materials whose positions have been transferred can be processed.
- the shelf may be arranged in a front row and a back row, thereby reducing the area occupied by the shelf in the warehouse, and facilitating the fetching of hidden inventory materials.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Business, Economics & Management (AREA)
- Economics (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Theoretical Computer Science (AREA)
- Entrepreneurship & Innovation (AREA)
- Tourism & Hospitality (AREA)
- Development Economics (AREA)
- General Business, Economics & Management (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Strategic Management (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Human Computer Interaction (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Engineering & Computer Science (AREA)
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Handcart (AREA)
- Vehicle Body Suspensions (AREA)
- Manipulator (AREA)
- Computer Vision & Pattern Recognition (AREA)
Abstract
Description
- This application claims priority to
Chinese Patent Application No. 201910703479.8, filed with the China National Intellectual Property Administration on July 31, 2019 - The present invention relates to the field of intelligent warehousing, and in particular, to a method for controlling a warehouse robot to store and fetch inventory materials.
- Machines have been used in a warehouse to transport goods from the warehouse to a shipping dock, or vice versa. In the beginning, machines were mainly used to carry heavy goods or large materials to save humans from exhausting labor. The latest developments in artificial intelligence and robotics have produced advanced machines. These machines seek to replace humans in both the industrial environment and a lot of areas of daily life.
- Although there are a lot of reports on the progress of automation and artificial intelligence, accuracy and flexibility are still two areas where robots lag behind humans. In warehouse setting, a fully automated machine may accept an order, fetch a material from the warehouse, and transport the material to a designated place, which is more fantastic than reality. Some well-known systems, such as a Kiva system, can complete simple mechanical movement of large shelves from one designated position to another designated position. However, the function of a full-automatic system, for example, extracting an inventory material from the designated shelf and storing the inventory material in the warehouse, realizing navigation in a crowded warehouse filled with obstacles, and processing the inventory materials whose positions have been transferred, has not yet been implemented in a commercial warehouse robot system.
- Therefore, the present invention is intended to provide a method for controlling a warehouse robot to store and fetch inventory materials, so that the warehouse robot can store and fetch the inventory material as instructed. The warehouse robot system disclosed herein is flexible, efficient, and fault-tolerant, and is especially suitable for use in a warehouse stacked with shelves.
- To resolve the foregoing technical problem, the embodiments of the present invention provide the following technical solutions:
A method for controlling a warehouse robot to store and fetch inventory materials is provided. The inventory materials on a shelf are arranged in a front row and a back row. The method includes: receiving an instruction of transporting a first inventory material; acquiring positioning information of the first inventory material from the received instruction, where the positioning information of the first inventory material includes a position, a depth, and an orientation of the first inventory material, where the depth of the first inventory material indicates that the first inventory material is located in the back row; instructing the warehouse robot to move to the position of the first inventory material; detecting whether a second inventory material is located in the front row of the first inventory material; extending a material handling device to the back row to acquire the first inventory material if no second inventory material exists in the front row; fetching the second inventory material from the front row and placing the second inventory material on an empty first tray if the second inventory material exists in the front row; fetching the first inventory material from the back row and placing the first inventory material on an empty second tray; and returning the second inventory material to the shelf. - In some embodiments, the position of the first inventory material includes coordinates and a height of the first inventory material; and the instructing the warehouse robot to move to the position of the first inventory material includes: instructing the warehouse robot to move to a position near the coordinates of the first inventory material; and instructing the material handling device to rise or fall to the height of the first inventory material.
- In some embodiments, the instructing the warehouse robot to move to the position of the first inventory material further includes: instructing the material handling device to rotate to the orientation of the first inventory material.
- In some embodiments, the first inventory material or the second inventory material is set as a designated material, and the fetching the first inventory material or the fetching the second inventory material includes: instructing the warehouse robot to acquire a relative position of the designated inventory material to the material handling device; calculating a position deviation of the designated inventory material based on the relative position of the designated inventory material to the material handling device; adjusting a posture of the warehouse robot to compensate for the position deviation of the designated inventory material; and instructing the material handling device to extend out.
- In some embodiments, the fetching the first inventory material or the fetching the second inventory material further includes: after adjusting the posture of the warehouse robot and before the material handling device extending out, instructing the warehouse robot to acquire the relative position of the designated inventory material to the material handling device again, updating the relative position of the designated inventory material to the material handling device in a database, recalculating the position deviation of the designated inventory material based on the updated relative position, and readjusting the posture of the warehouse robot according to the recalculated position deviation.
- In some embodiments, the fetching the first inventory material or the fetching the second inventory material further includes: after adjusting the posture of the warehouse robot and before the material handling device extending out, determining whether the material handling device is to collide with the shelf when extending out.
- In some embodiments, the material handling device is instructed to rise and fall to read an identification code of the shelf, relative position of the material handling device to the shelf are acquired according to the identification code of the shelf, and it is determined, according to the relative position of the material handling device to the shelf, whether the material handling device is to collide with the shelf when extending out.
- In some embodiments, the designated inventory material is the first inventory material, and the instructing the material handling device to extend out includes: instructing the material handling device to extend to the front row; instructing the warehouse robot to acquire a relative position of the first inventory material to the material handling device; calculating the position deviation of the designated inventory material based on the relative position of the first inventory material to the material handling device; adjusting the posture of the warehouse robot to compensate for a position deviation of the first inventory material; and instructing the material handling device to continue to extend to the back row.
- In some embodiments, the instructing the material handling device to extend out further includes: instructing the material handling device to continue to extend out by a preset distance if the warehouse robot fails to acquire the relative position of the first inventory material to the material handling device, and instructing the warehouse robot to acquire the relative position of the first inventory material to the material handling device again during the extension of the material handling device.
- In some embodiments, the instructing the material handling device to extend out further includes: after adjusting the posture of the warehouse robot and before the material handling device continuing to extend to the back row, instructing the warehouse robot to acquire the relative position of the first inventory material to the material handling device again, updating the relative position of the first inventory material to the material handling device in a database, recalculating the position deviation of the first inventory material based on the updated relative position, and readjusting the posture of the warehouse robot according to the recalculated position deviation.
- In some embodiments, the relative position of the designated inventory material to the material handling device are acquired by instructing the material handling device to capture image information of the designated inventory material and by processing the image information according to an image difference algorithm.
- In some embodiments, the relative position of the designated inventory material to the material handling device are acquired by an identification code of the designated inventory material read by the material handling device.
- In some embodiments, if the material handling device fails to read the identification code of the designated inventory material, the material handling device is instructed to repeatedly rise and fall by a preset amplitude, and during the rise and fall of the material handling device, the material handling device is instructed again to read the identification code of the designated inventory material.
- In some embodiments, when the material handling device successfully reads the identification code of the designated inventory material, it is determined whether the identification code is upside down.
- In some embodiments, the adjusting a posture of the warehouse robot includes: adjusting a chassis of the warehouse robot, and/or rotating the material handling device if the identification code of the designated inventory material within a field of view of the material handling device is not complete, so that the identification code of the designated inventory material within a field of view of a camera is more complete.
- Compared with the prior art, according to the method for controlling a warehouse robot to store and fetch inventory materials provided in this application, by instructing the material handling device to fetch the inventory materials and storing the inventory materials in the trays, the inventory materials can be extracted from a designated shelf and stored in a warehouse, navigation is realized in a crowded warehouse filled with obstacles, and the inventory materials whose positions have been transferred can be processed.
- In addition, by instructing the material handling device to fetch the first inventory material located behind the second inventory material, the shelf may be arranged in a front row and a back row, thereby reducing the area occupied by the shelf in the warehouse, and facilitating the fetching of hidden inventory materials.
- One or more embodiments are described by way of example with reference to the corresponding figures in the accompanying drawings, and the exemplary descriptions are not to be construed as limiting the embodiments. Elements in the accompanying drawings that have same reference numerals are represented as similar elements, and unless otherwise particularly stated, the figures in the accompanying drawings are not drawn to scale.
-
FIG. 1 is an exemplary illustration of an automatic guided vehicle (AGV) specifically designed for a warehouse. -
FIG. 2 is an exemplary disassembly illustration of a warehouse AGV robot. -
FIG. 3 is an exemplary illustration of a lifting device as part of a muliti-level shelf. -
FIG. 4 is an exemplary illustration of a driving device. -
FIG. 5 is an exemplary illustration of a driving device using a motor. -
FIG. 6a to FIG. 6d are exemplary illustrations of parts of a material handling device. -
FIG. 7 is an exemplary illustration of a first embodiment of a lateral device of a material handling device. -
FIG. 8 is an exemplary illustration of a second embodiment of a lateral device of a material handling device. -
FIG. 9 is a flowchart showing a process of a warehouse AGV processing an instruction of fetching an inventory material. -
FIG. 10 is a flowchart showing a process of a warehouse AGV processing an instruction of fetching a first inventory material behind an obstacle. - Embodiments of the present invention are described more fully below with reference to the accompanying drawings, in which preferred embodiments of the present invention are shown. However, various embodiments of the present invention may be embodied in many different forms and should not be construed as limited to the embodiments described herein. Conversely, these embodiments are provided, so that the present disclosure is thorough and complete, and the scope of the present disclosure is completely conveyed to those skilled in the art.
- Referring to
FIG. 1 , an automatic guided vehicle (AGV) 100 of one embodiment includes adriving unit 110, amulti-level shelf 120, and amaterial handling device 130. Thedriving unit 110 is configured to drive and propel the AGV 100. Themulti-level shelf 120 includes one or moreflat plates 122 and alifting device 124. Thelifting device 124 is connected to thematerial handling device 130 and may lift or lower thematerial handling device 130. InFIG. 6a to FIG. 6d , thematerial handling device 130 includes a tray, a lateral device, and a telescopic device, which are to be explained in subsequent sections of the present disclosure. -
FIG. 2 is an exploded view of the AGV 100 according to one embodiment.FIG. 2 shows internal components within ahousing 202. InFIG. 2 , themulti-level shelf 120 is shown to include avertical frame 226, abracket 228 supporting theflat plate 122, and thelifting device 124.FIG. 3 illustrates more details of thevertical frame 226 and thelifting device 124. Thebracket 226 includes twovertical posts 315 and a plurality ofvertical rods 316. Thelifting device 124 includes two synchronouswheel driving devices 343 and alifting driving mechanism 342. - The two synchronous
wheel driving devices 343 are mounted to thevertical posts 315. In some embodiments, thelifting device 124 may include more than two synchronouswheel driving devices 343. As shown inFIG. 3 , each of the synchronouswheel driving devices 343 includes atensioning wheel 331, a drivingsynchronous wheel 330, and asynchronous belt 332. The synchronouswheel driving device 343 is connected to thelifting driving mechanism 342. Thelifting driving mechanism 342 drives the drivingsynchronous wheel 330 to move thebelt 332, so as to lift thematerial handling device 130 up and down themulti-level shelf 120. InFIG. 3 , thelifting driving mechanism 342 of one embodiment includes amotor 320, a drivingshaft 321, and agear box 322. In some embodiments, themotor 320 may be replaced with a hydraulic transmission system or a pneumatic motor or any other type of motor. The drivingshaft 321 connects the drivingsynchronous wheel 330 to themotor 320 through thegear box 322, and transmits kinetic energy of themotor 320 to the drivingsynchronous wheel 330 to drive thelifting device 124. In some embodiments, the drivingshaft 321 is connected to two driving synchronous wheels (not shown) to ensure that the two driving synchronous wheels move synchronously. InFIG. 3 , two balancingblocks 333 are mounted to a top of themulti-level shelf 120. Due to the weight conveyed by the balancing blocks 333, the balancing blocks 333 are movable along thevertical post 315, and may control and buffer the movement and momentum of thelifting device 124. It is to be noted that inFIG. 3 , thelifting device 124 is implemented as a synchronous wheel driving system. Other mechanisms using chain wheels, gears and racks, worm gears, and/or lifting screws may also be used for implementing thelifting device 124. - After the
material handling device 130 is moved aside, the drivingdevice 110 is disassembled inFIG. 2 . Details of thedriving device 110 are shown in the exploded view of thedriving device 110 inFIG. 4 . The drivingunit 110 inFIG. 4 includes abase 422, ashaft seat 415, and ashock absorber bracket 425. Thevertical post 315 is fixed to thebase 422, so as to mount themulti-level shelf 120 to thedriving device 110. - The base has two surfaces, one
upper surface 421, and onelower surface 420. On theupper surface 421 of the base, theshaft seat 415 and theshock absorber bracket 425 are used to accommodate two drivingwheels 413 through adriving wheel groove 426 and a mountinggroove 424. The mountinggroove 424 is located in the middle of thebase 422, and the two drivingwheels 413 are located below the mountinggroove 424 to support thebase 422. Four drivenwheels 412 are also mounted to four corners of the base 422 to provide support and facilitate movement. The four drivenwheels 412 are mounted in thedriving wheel groove 426. In some embodiments, more or less than four driven wheels may be mounted. The driven wheel may be a universal wheel or other types of steering wheels. -
FIG. 5 illustrates one embodiment of thedriving wheel 413. Thedriving wheel 413 includes adriving wheel bracket 530, adriving wheel body 531, ahub driving device 532, and ahub reduction gear 533. Thedriving wheel bracket 530 includes a pair ofhub brackets 534, ashaft body 535, and a pair ofshock absorbers 536. Thehub driving device 532 is mounted to the middle of thedriving wheel bracket 530 along a central shaft S2. Thehub driving device 532 is connected to thedriving wheel body 531 to provide a driving force for driving thedriving wheel 413. Thehub driving device 532 is located between thehub brackets 534. The twoshock absorbers 536 are respectively located on one side of eachhub bracket 534. Theshock absorbers 536 are connected to theshock absorber bracket 425 shown inFIG. 4 through the mountinggroove 424. Thehub brackets 534 are connected to theshaft body 535, and theshaft body 535 is also connected to theshaft seat 415 through the mountinggroove 424. Eachshock absorber 536 and the eachhub bracket 534 form an included angle. This structure may be used to absorb shock or eccentric forces, especially when theAGV 100 is turning. In some embodiments, thehub driving device 532 may be a motor, a hydraulic transmission system, a pneumatic motor, or other types of motors. - As shown in
FIG. 1 , theAGV 100 of one embodiment includes themulti-level shelf 120 shown inFIG. 2 andFIG. 3 , the drivingdevice 110 shown inFIG. 4 , and thematerial handling device 130 shown inFIG. 6a to FIG. 6d . - In
FIG. 6a , thematerial handling device 130 is shown to include atray 633, arobotic arm 632, abracket 631, twoslidable members 610, acamera 640, amain lighting device 641, and anauxiliary lighting device 642. Tworobotic arms 632 are disposed. One robotic arm is disposed on each side of the tray. However, only one robotic arm is shown inFIG. 6 . Furthermore, only one of the twoslidable members 610 is shown inFIG. 6a . - In
FIG. 6a , three shafts S5, S6, and S7 are shown. Thematerial handling device 130 may extend out or retract along S6 by means of the movement of theslidable member 610. Thematerial handling device 130 may further be laterally movable. In some embodiments, in order to achieve the lateral movement, thematerial handling device 130 is configured to be rotatable about S5. In one embodiment, thematerial handling device 130 is configured to rotate thetray 633 to the left or right by 90°. In some other embodiments, in order to achieve the lateral movement, thematerial handling device 130 is configured to move thetray 633 to the left or right. In order to pan thetray 633, thematerial handling device 130 moves thetray 633 parallel to S7. - The
robotic arm 632 is configured to retract or extend out along theslidable member 610 and move thetray 633 along S6. Therobotic arm 632 includes atelescopic arm 636 and apush rod assembly 637 for performing retraction and extension movements.FIG. 6b shows an exploded view of thematerial handling device 130 according to one embodiment. Five components of thematerial handling device 130 are depicted in an exploded view inFIG. 6b to show detailed parts in each component. InFIG. 6a , thetray 633 is depicted on top of theslidable member 610. Thetray 633 is moved to one side to expose the structure of theslidable member 610 inFIG. 6b . - In
FIG. 6b , theslidable member 610 is connected to arotary assembly 638 and afork 639. Therotary assembly 638 is configured to rotate thetray 633 about S6. Details of therotary assembly 638 are shown inFIG. 7 and explained as follows. In some embodiments, thematerial handling device 130 pans thetray 633 instead of rotating thetray 633, as shown inFIG. 8 . Theslidable member 610 is a part of the telescopic device provided in other embodiments of the present invention. Therotary assembly 638 is a part of a lateral device provided in other embodiments of the present invention. Another embodiment of the lateral device is shown inFIG. 8 . - In
FIG. 6b , thepush rod assembly 637 is shown to include a fixedpush rod 670, amovable push rod 671, adriving device 672, and aninner arm section 662. Theinner arm section 662 may be mounted in amiddle arm section 661, and themiddle arm section 661 may be mounted in anouter arm section 660. Thedriving device 672 may drive themovable push rod 671 to open or close relative to theinner arm section 662. Themovable push rod 671 may be configured to move the inventory materials onto thetray 633 or away from thetray 633. Aprotective plate 635 shown inFIG. 6b is mounted around thetray 633 to prevent the contents of thetray 633 from falling off. -
FIG. 6c provides another enlarged view of thematerial handling device 130. Twoouter arm sections 660 are each mounted to each side of thetray 633. Thecamera 640 and themain lighting device 641 are mounted to the front of thematerial handling device 130.FIG. 6c further depicts afirst driving device 663 connected to theouter arm section 660.FIG. 6d depicts asecond driving device 664 connected to themiddle arm section 661. Any of thefirst driving device 663 and thesecond driving device 664 includes a telescopic driving device (3631 and 3641 respectively) and a chain wheel device (3630 and 3640 respectively). In some embodiments, thefirst driving device 663 may include a chain wheel device, and thesecond driving device 664 may include a flat belt device (not shown). In some embodiments, thefirst driving device 663 or thesecond driving device 664 may include an open-loop flat belt device (not shown) instead of the chain wheel device or the flat belt device, so as to facilitate the extension or retraction of thematerial handling device 130. - As described above, the
material handling device 130 is configured to rotate thetray 633 or pan thetray 633 to implement the lateral movement during storage or retrieval of one inventory material. In a crowded warehouse where shelves are placed in rows, thematerial handling device 130 capable of moving laterally to the interior of the shelf is particularly advantageous. Thematerial handling device 130 may rotate thetray 633 when theAGV 100 moves between two shelves, or may move thetray 633 to the right side or the left side without rotating theentire AGV 100. Since theAGV 100 does not require a turning space, a space between the shelves may be as narrow as a width of theAGV 100. In this way, theAGV 100 requires less space than a conventional warehouse robot when moving between the shelves and picking up or storing inventory materials.FIG. 7 andFIG. 8 illustrate two embodiments for implementing lateral movement of thematerial handling device 130. -
FIG. 7 shows therotary assembly 638 shown inFIG. 6b . InFIG. 7 , therotary assembly 638 includes arotary driving device 712 and apositioning device 714. Therotary driving device 712 includes a driving motor (not shown) and a set of driving gears 724. The driving motor is, for example, an electric motor, a hydraulic transmission system, or a pneumatic motor. The driving gear is, for example, a worm gear mechanism, a planetary gear mechanism, or other types of gear structures. Thepositioning device 714 includes afirst angle sensor 716, asecond angle sensor 720, afirst proximity switch 726, asecond proximity switch 728, and adetection board 718. Thepositioning device 714 further includes a rotation controller not shown inFIG. 7 . - The
first angle sensor 716 and thesecond angle sensor 720 are located on the circumference of thedriving gear 724 and are separated by a certain distance. The two sensors are configured to detect whether thetray 633 of thematerial handling device 130 has rotated to a designated position. Since thetray 633 is driven by therotating driving device 712, thefirst proximity switch 726 and thesecond proximity switch 728 move together with thetray 633. Depending on a time in which a corresponding one of thefirst angle sensor 716 or thesecond angle sensor 720 detects a corresponding one of thefirst proximity switch 726 or thesecond proximity switch 728, an angular rotation amount of thetray 633 may be detected and controlled by the rotation controller. - In some embodiments, the rotation controller of
FIG. 7 controls therobotic arm 632 and thetray 633 to rotate to the right or left by 90°, to provide lateral movement of thematerial handling device 130 to lateral reach the shelves on the right side or on the left side.FIG. 8 shows a mechanism different from therotary assembly 638, and therotary assembly 638 may also be configured to provide lateral movement to thetray 633. - In
FIG. 8 , therobotic arm 632 includes twoslidable mechanisms slidable mechanism 852 moves therobotic arm 632 to cause therobotic arm 632 to extend out or retract. Theslidable mechanism 854 laterally moves therobotic arm 632 to the left side or the right side. InFIG. 8 , twocameras 856 are mounted on two sides of therobotic arm 632 for optical detection. Compared with thematerial handling device 130 shown inFIG. 6a , the device may be configured to rotate to the left or right by 90°, and thematerial handling device 130 driven by the system shown inFIG. 8 does not rotate, but only slides to the left side or the right side. Therefore, inFIG. 6a , only onecamera 640 is required in front of thematerial handling device 130, while inFIG. 8 , twocameras 856 are mounted on two sides of thearm 632. -
FIG. 1 to FIG. 8 show anAGV 100 having advantages of agility and flexibility.FIG. 9 shows a flowchart of storing or fetching inventory materials by theAGV 100. For ease of description,FIG. 9 only shows the process of fetching the material. The storage procedures for inventory items are similar and are not described in detail for the sake of brevity. Those skilled in the art can obtain the process of storing the inventory material from the process of fetching the inventory material shown inFIG. 9 . - Referring to
FIG. 9 , theAGV 100 receives an instruction of fetching the inventory material from a warehouse shelf. In some embodiments, the instruction may include only an identification code of the inventory material, and theAGV 100 uses the identification code to seek positioning information of the material. In some embodiments, the instruction may include positioning information of the inventory material, and theAGV 100 may extract positioning information of a to-be-fetched material according to the instruction. In one embodiment, the positioning information includes a position of the inventory material, for example, an x coordinate and a y coordinate (coordinates), a row number and a column number, or the like, and an orientation and a height of the inventory material, for example, a shelf level where the material is stored. Based on the position information of the material, theAGV 100 navigates around the warehouse and approaches the position of the inventory material. - When the
AGV 100 reaches the position (step 902), themain lighting device 641 is turned on (step 904). TheAGV 100 attempts to read the identification code on the inventory material (step 906). In some embodiments, the identification code may be a QR code. In other embodiments, the identification code may be any bar code. When theAGV 100 fails to read the identification code, theAGV 100 reports the result to a server and aborts a task (step 950). When theAGV 100 is capable of identifying the identification code, a position deviation of the inventory material is calculated (step 908). - The
AGV 100 is configured to report, to the server, the position deviation of the inventory material obtained by the AGV (step 910). The server is configured to use the position deviation and a warehouse layout to determine an accurate position of the inventory material (step 912). Then the server updates a database of the server by using the accurate position of the inventory material (step 914). - Based on the position deviation, the
AGV 100 further determines whether thematerial handling device 130 may directly reach the inventory material from a position of the AGV 100 (step 924). If so, theAGV 100 further adjusts or fine-tunes the posture of the material handling device 130 (step 932), and thematerial handling device 130 is caused to extend out during movement of the AGV 100 (step 934) to slightly adjust the relative position or orientation of the inventory material (step 936). If so, theAGV 100 further determines whether thetray 633 is within a preset range (step 922). If not, theAGV 100 slightly adjusts the position of the AGV (920) and attempts to read the identification code again (step 906). If thetray 633 is within the preset range, theAGV 100 adjusts the posture of thematerial handling device 130 and rotates the tray 633 (step 926). The identification code is read again to determine whether the position deviation is within a threshold range (step 928). If the position deviation is within the threshold range, theAGV 100 extends out thematerial handling device 130 to the inventory material (step 930). If the position deviation is inappropriate or within a preset threshold range, theAGV 100 extends out the material handling device (step 934) to adjust the posture of theAGV 100 and the relative position of the inventory materials (step 936). - Referring to
FIG. 10 , in some embodiments, theAGV 100 is configured to find and fetch inventory materials hidden behind an object or another inventory material. TheAGV 100 is configured to receive, from the server, an instruction indicating that positioning information of a first inventory material is to be acquired. The positioning information includes a position, a depth, and an orientation of the first inventory material. If no inventory material exists in a front row, theAGV 100 is configured to acquire the first inventory material from a back row of a shelf. If a second inventory material exists in the front row, theAGV 100 is configured to acquire a second inventory material and place the second inventory material on a first tray on amulti-level shelf 120, where the first tray is empty (step 1002). TheAGV 100 then fetches the first inventory material and places the first inventory material on an empty second tray on a multi-layer shelf 120 (step 1004). TheAGV 100 returns the second inventory material to the shelf after fetching the first inventory material (step 1006). - In some embodiments, two or more rows of inventory materials may be allowed to be placed or stored in the shelves used in a warehouse. In the warehouse, the
AGV 100 and the position information stored for each inventory material are modified or adjusted to adapt to double-row depth shelves. In the method of controlling theAGV 100 to store or fetch inventory materials placed on the shelf, theAGV 100 first receives an instruction of transporting the first inventory material. The instruction may include the position of the first inventory material, for example, the position, the depth, and the orientation of the first inventory material. If the depth of the first inventory material indicates that the material is located in the front row of the shelf, the fetching process of theAGV 100 is the same as that previously described. If the depth of the first inventory material indicates that the material is located in the back row of the shelf, the fetching process of theAGV 100 may require theAGV 100 to remove the inventory material in the front row to reach the first inventory material in the back row. In some configurations, theAGV 100 is configured to acquire the second inventory material in the front row and place the second inventory material on one empty tray, and then fetch the first inventory material from the back row and place the first inventory material on another empty tray. After that, the robot returns the material in the front row to the front row. In fact, if theAGV 100 is instructed to fetch the first inventory material and the second inventory material that happen to be in a same position but in different rows, theAGV 100 does not need to return the second inventory material to the shelf. - In some embodiments, the
AGV 100 is configured to detect a position deviation of the first inventory material or the second inventory material and adjust the posture and the position of theAGV 100, the position of the first inventory material before reaching the shelf to obtain the first inventory material, and the position of the second inventory material before reaching the shelf to obtain the second inventory material. In one embodiment, theAGV 100 may repeat the position adjustment process until the detected position deviation is less than a threshold. In one embodiment, theAGV 100 is configured to report the location deviation to the server to allow the server to update a map of the warehouse. The map of the warehouse can show a layout, that is, the position of the shelf and a position where the inventory material is stored. - In some embodiments, the position of the first inventory material includes coordinates and a height of the first inventory material; and the instructing the warehouse robot to move to the position of the first inventory material includes: instructing the warehouse robot to move to a position near the coordinates of the first inventory material; and instructing the material handling device to rise or fall to the height of the first inventory material.
- In some embodiments, the instructing the warehouse robot to move to the position of the first inventory material further includes: instructing the material handling device to rotate to the orientation of the first inventory material. If the material handling device can handle the inventory material only in one direction, the material handling device requires to be rotated, so that the inventory material is in the handling direction of the material handling device. In some other embodiments, by adjusting the position of the
AGV 100, the inventory material is located in the handling direction of the material handling device, but it takes longer and is less efficient. - In some embodiments, since there are some similar steps to fetch the first inventory material and fetch the second inventory material, in order to simplify the description of these similar steps, one inventory material is used as an example for description. The first inventory material or the second inventory material is set as a designated material, and the fetching the first inventory material or the fetching the second inventory material includes: instructing the warehouse robot to acquire a relative position of the designated inventory material to the material handling device; calculating a position deviation of the designated inventory material based on the relative position of the designated inventory material to the material handling device; adjusting a posture of the warehouse robot to compensate for the position deviation of the designated inventory material; and instructing the material handling device to extend out. It may be determined, according to the relative position of the inventory material to the material handling device, whether the material handling device can directly reach the inventory material.
- In some embodiments, the fetching the first inventory material or the fetching the second inventory material further includes: after adjusting the posture of the warehouse robot and before the material handling device extending out, instructing the warehouse robot to acquire the relative position of the designated inventory material to the material handling device again, updating the relative position of the designated inventory material to the material handling device in a database, recalculating the position deviation of the designated inventory material based on the updated relative position, and readjusting the posture of the warehouse robot according to the recalculated position deviation.
- In some embodiments, the fetching the first inventory material or the fetching the second inventory material further includes: after adjusting the posture of the warehouse robot and before the material handling device extending out, determining whether the material handling device is to collide with the shelf when extending out. By using the step, the material handling device or the inventory material may be prevented from damage as a result of the collision of the material handling device colliding with the shelf after extending out. If it is determined that the material handling device collides with the shelf after extending out, an error mode is entered. In the error mode, the material handling device is reset and reoperates. After the reoperation, determination is performed again. If an error still exists, the error is reported to the server, and the operation is suspended.
- In some embodiments, the material handling device is instructed to rise and fall and to an identification code of the shelf, relative position of the material handling device to the shelf are acquired according to the identification code of the shelf, and it is determined, according to the relative position of the material handling device to the shelf, whether the material handling device is to collide with the shelf when extending out. The identification code of the shelf is located above or below the inventory material. If the identification code of the shelf is located above the inventory material, the material handling device is instructed to rise to read the identification code of the shelf. Conversely, the material handling device is instructed to fall to read the identification code of the shelf.
- In some embodiments, the designated inventory material is the first inventory material, and the instructing the material handling device to extend out includes: instructing the material handling device to extend out to the front row and stay for a preset time; instructing the warehouse robot to acquire a relative position of the first inventory material to the material handling device; calculating the position deviation of the designated inventory material based on the relative position of the first inventory material to the material handling device; adjusting the posture of the warehouse robot to compensate for a position deviation of the first inventory material; and instructing the material handling device to continue to extend to the back row. When the material handling device extends out to the front row, a distance between the material handling device and the first inventory material is shortened, so as to improve the accuracy of the acquired relative position.
- In some embodiments, the instructing the material handling device to extend out further includes: instructing the material handling device to continue to extend out by a preset distance if the warehouse robot fails to acquire the relative position of the first inventory material to the material handling device, and instructing the warehouse robot to acquire the relative position of the first inventory material to the material handling device again during the extension of the material handling device.
- In some embodiments, the instructing the material handling device to extend out further includes: after adjusting the posture of the warehouse robot and before the material handling device continuing to extend to the back row, instructing the warehouse robot to acquire the relative position of the first inventory material to the material handling device again, updating the relative position of the first inventory material to the material handling device in a database, recalculating the position deviation of the first inventory material based on the updated relative position, and readjusting the posture of the warehouse robot according to the recalculated position deviation.
- In some embodiments, the relative position of the designated inventory material to the material handling device are acquired by instructing the material handling device to capture image information of the designated inventory material and by processing the image information according to an image difference algorithm.
- In some embodiments, the relative position of the designated inventory material to the material handling device are acquired by an identification code of the designated inventory material read by the material handling device.
- In some embodiments, if the material handling device fails to read the identification code of the designated inventory material, the material handling device is instructed to repeatedly rise and fall by a preset amplitude, and during the rise and fall of the material handling device, the material handling device is instructed again to read the identification code of the designated inventory material. If the identification code of the inventory material fails to be read again, the error mode is entered.
- In some embodiments, when the material handling device successfully reads the identification code of the designated inventory material, it is determined whether the identification code is upside down. If the identification code is upside down, report the result to the server to notify the staff to make corrections.
- In some embodiments, the adjusting a posture of the warehouse robot includes: adjusting a chassis of the warehouse robot, and/or rotating the material handling device if the identification code of the designated inventory material within a field of view of the material handling device is not complete, so that the identification code of the designated inventory material within a field of view of a camera is more complete.
- Compared with the prior art, in the method for controlling a warehouse robot to store and fetch inventory materials provided in this application, the material handling device moves the inventory materials to the trays, so that the inventory materials can be extracted from a designated shelf and stored in a warehouse, navigation is realized in a crowded warehouse filled with obstacles, and the inventory materials whose positions have been transferred can be processed.
- In addition, by instructing the material handling device to fetch the first inventory material located behind the second inventory material, the shelf may be arranged in a front row and a back row, thereby reducing the area occupied by the shelf in the warehouse, and facilitating the fetching of hidden inventory materials.
- Although the present invention has been described herein with reference to specific embodiments, the present invention is not limited to the details that are shown. Conversely, within the scope of the claims, various modifications of the details may be made without departing from the disclosure.
Claims (15)
- A method for controlling a warehouse robot to store and fetch inventory materials, wherein the inventory materials on a shelf are arranged in a front row and a back row, and the method comprises:receiving an instruction of transporting a first inventory material;acquiring positioning information of the first inventory material from the received instruction, wherein the positioning information of the first inventory material comprises a position, a depth, and an orientation of the first inventory material, wherein the depth of the first inventory material indicates that the first inventory material is located in the back row;instructing the warehouse robot to move to the position of the first inventory material;detecting whether a second inventory material is located in the front row of the first inventory material;extending a material handling device to the back row to acquire the first inventory material if no second inventory material exists in the front row;fetching the second inventory material from the front row and placing the second inventory material on an empty first tray if the second inventory material exists in the front row;fetching the first inventory material from the back row and placing the first inventory material on an empty second tray; andreturning the second inventory material to the shelf.
- The method according to claim 1, wherein the position of the first inventory material comprises coordinates and a height of the first inventory material; and
the instructing the warehouse robot to move to the position of the first inventory material comprises:instructing the warehouse robot to move to a position near the coordinates of the first inventory material; andinstructing the material handling device to rise or fall to the height of the first inventory material. - The method according to claim 2, wherein the instructing the warehouse robot to move to the position of the first inventory material further comprises:
instructing the material handling device to rotate to the orientation of the first inventory material. - The method according to claim 1, wherein the first inventory material or the second inventory material is set as a designated material, and the fetching the first inventory material or the fetching the second inventory material comprises:instructing the warehouse robot to acquire a relative position of the designated inventory material to the material handling device;calculating a position deviation of the designated inventory material based on the relative position of the designated inventory material to the material handling device;adjusting a posture of the warehouse robot to compensate for the position deviation of the designated inventory material; andinstructing the material handling device to extend out.
- The method according to claim 4, wherein the fetching the first inventory material or the fetching the second inventory material further comprises:
after adjusting the posture of the warehouse robot and before the material handling device extending out, instructing the warehouse robot to acquire the relative position of the designated inventory material to the material handling device again, updating the relative position of the designated inventory material to the material handling device in a database, recalculating the position deviation of the designated inventory material based on the updated relative position, and readjusting the posture of the warehouse robot according to the recalculated position deviation. - The method according to claim 4, wherein the fetching the first inventory material or the fetching the second inventory material further comprises:
after adjusting the posture of the warehouse robot and before the material handling device extending out, determining whether the material handling device is to collide with the shelf when extending out. - The method according to claim 6, wherein the material handling device is instructed to rise and fall to read an identification code of the shelf, relative position of the material handling device to the shelf are acquired according to the identification code of the shelf, and it is determined according to the relative position of the material handling device to the shelf whether the material handling device is to collide with the shelf when extending out.
- The method according to claim 4, wherein the designated inventory material is the first inventory material, and the instructing the material handling device to extend out comprises:instructing the material handling device to extend to the front row;instructing the warehouse robot to acquire a relative position of the first inventory material to the material handling device;calculating the position deviation of the designated inventory material based on the relative position of the first inventory material to the material handling device;adjusting the posture of the warehouse robot to compensate for a position deviation of the first inventory material; andinstructing the material handling device to continue to extend to the back row.
- The method according to claim 8, wherein the instructing the material handling device to extend out further comprises:
instructing the material handling device to continue to extend out by a preset distance if the warehouse robot fails to acquire the relative position of the first inventory material to the material handling device, and instructing the warehouse robot to acquire the relative position of the first inventory material to the material handling device again during the extension of the material handling device. - The method according to claim 8, wherein the instructing the material handling device to extend out further comprises:
after adjusting the posture of the warehouse robot and before the material handling device continuing to extend to the back row, instructing the warehouse robot to acquire the relative position of the first inventory material to the material handling device again, updating the relative position of the first inventory material to the material handling device in a database, recalculating the position deviation of the first inventory material based on the updated relative position, and readjusting the posture of the warehouse robot according to the recalculated position deviation. - The method according to any one of claims 4 to 10, wherein the relative position of the designated inventory material to the material handling device are acquired by instructing the material handling device to capture image information of the designated inventory material and processing the image information according to an image difference algorithm.
- The method according to any one of claims 4 to 10, wherein the relative position of the designated inventory material to the material handling device are acquired by an identification code of the designated inventory material read by the material handling device.
- The method according to claim 12, wherein if the material handling device fails to read the identification code of the designated inventory material, the material handling device is instructed to repeatedly rise and fall by a preset amplitude, and during the rise and fall of the material handling device, the material handling device is instructed again to read the identification code of the designated inventory material.
- The method according to claim 12, wherein when the material handling device successfully reads the identification code of the designated inventory material, it is determined whether the identification code is upside down.
- The method according to claim 12, wherein the adjusting a posture of the warehouse robot comprises:
adjusting a chassis of the warehouse robot, and/or rotating the material handling device if the identification code of the designated inventory material within a field of view of the material handling device is not complete, so that the identification code of the designated inventory material within the field of view of a camera is more complete.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201711135812.7A CN108069180A (en) | 2017-11-14 | 2017-11-14 | Robot |
CN201711141498.3A CN108122016B (en) | 2017-11-14 | 2017-11-14 | Method and device for automatically storing and taking goods |
CN201910703479.8A CN110498172A (en) | 2017-11-14 | 2019-07-31 | A method of control warehouse robot accesses supplies on hand |
PCT/CN2020/105514 WO2021018193A1 (en) | 2017-11-14 | 2020-07-29 | Method for controlling warehouse robot to store and retrieve inventory material |
Publications (2)
Publication Number | Publication Date |
---|---|
EP4005948A1 true EP4005948A1 (en) | 2022-06-01 |
EP4005948A4 EP4005948A4 (en) | 2023-01-11 |
Family
ID=66538872
Family Applications (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18878478.9A Pending EP3710381A4 (en) | 2017-11-14 | 2018-09-07 | Automated guided vehicle designed for warehouse |
EP18879979.5A Active EP3712815B1 (en) | 2017-11-14 | 2018-09-07 | Transport robot and transport robot-based pickup method |
EP23213684.6A Pending EP4306478A3 (en) | 2017-11-14 | 2018-09-07 | Handling robot and method for retrieving inventory item based on handling robot |
EP20847847.9A Pending EP4005948A4 (en) | 2017-11-14 | 2020-07-29 | Method for controlling warehouse robot to store and retrieve inventory material |
Family Applications Before (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18878478.9A Pending EP3710381A4 (en) | 2017-11-14 | 2018-09-07 | Automated guided vehicle designed for warehouse |
EP18879979.5A Active EP3712815B1 (en) | 2017-11-14 | 2018-09-07 | Transport robot and transport robot-based pickup method |
EP23213684.6A Pending EP4306478A3 (en) | 2017-11-14 | 2018-09-07 | Handling robot and method for retrieving inventory item based on handling robot |
Country Status (13)
Country | Link |
---|---|
US (4) | US11718472B2 (en) |
EP (4) | EP3710381A4 (en) |
JP (8) | JP6838178B2 (en) |
KR (8) | KR102385397B1 (en) |
CN (6) | CN118410821A (en) |
AU (5) | AU2018368406B2 (en) |
CA (3) | CA3082510C (en) |
DE (3) | DE202018006723U1 (en) |
MY (2) | MY189257A (en) |
NZ (2) | NZ765306A (en) |
RU (3) | RU2754121C1 (en) |
SG (2) | SG11202004495PA (en) |
WO (3) | WO2019095804A1 (en) |
Families Citing this family (107)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11009886B2 (en) | 2017-05-12 | 2021-05-18 | Autonomy Squared Llc | Robot pickup method |
US11396424B2 (en) | 2017-11-14 | 2022-07-26 | Hai Robotics Co., Ltd. | Handling robot |
US12006143B2 (en) | 2017-11-14 | 2024-06-11 | Hai Robotics Co., Ltd. | Handling robot |
US11465840B2 (en) | 2017-11-14 | 2022-10-11 | Hai Robotics Co., Ltd. | Handling robot |
CN118410821A (en) * | 2017-11-14 | 2024-07-30 | 深圳市海柔创新科技有限公司 | Transfer robot and goods taking method based on transfer robot |
WO2019117844A1 (en) | 2017-12-11 | 2019-06-20 | Daniel Theobald | Autonomous device for transporting items |
WO2019224281A2 (en) * | 2018-05-22 | 2019-11-28 | Pick8Ship Technology Ag | Cargo receptacle, cargo logistics method and cargo logistics system |
WO2020158970A1 (en) * | 2019-01-30 | 2020-08-06 | 엘지전자 주식회사 | Inventory management robot |
CN209758195U (en) * | 2019-02-01 | 2019-12-10 | 深圳市海柔创新科技有限公司 | Transfer robot |
US11597598B2 (en) | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
US11542135B2 (en) | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
USD918281S1 (en) * | 2019-03-13 | 2021-05-04 | Shenzhen Hairou Innovation Technology Co., Ltd. | Warehouse robot |
CN111731729A (en) * | 2019-04-30 | 2020-10-02 | 北京京东乾石科技有限公司 | Goods shelf shuttle and goods shelf system |
CN112116283B (en) * | 2019-06-21 | 2024-04-09 | 杭州海康威视数字技术股份有限公司 | Logistics information acquisition method, video search method, device and electronic equipment |
WO2021037229A1 (en) * | 2019-08-30 | 2021-03-04 | 深圳市海柔创新科技有限公司 | Sorting robot and sorting method |
US11807451B2 (en) | 2019-09-17 | 2023-11-07 | Hai Robotics Co., Ltd. | Fork and carrying robot |
CN211056639U (en) * | 2019-09-17 | 2020-07-21 | 深圳市海柔创新科技有限公司 | Fork and transfer robot |
CN111559536A (en) * | 2019-09-18 | 2020-08-21 | 深圳市今天国际物流技术股份有限公司 | Tray changing and loading method for soft-package battery, manipulator for soft-package battery and storage medium |
CN111348361A (en) * | 2020-01-21 | 2020-06-30 | 深圳市海柔创新科技有限公司 | Goods taking and placing control method and device, conveying device and conveying robot |
EP3984918A4 (en) * | 2019-09-30 | 2022-11-30 | Hai Robotics Co., Ltd. | Handling robot, goods picking-up method, goods replenishing or returning method, and intelligent warehousing system |
KR20220080196A (en) * | 2019-10-23 | 2022-06-14 | 샹하이 퀵트론 인텔리전트 테크놀로지., 엘티디 | Telescopic devices and transport robots |
US11164226B2 (en) * | 2019-11-01 | 2021-11-02 | AiFi Inc. | Method and system for managing product items in a store |
CN211197466U (en) | 2019-11-19 | 2020-08-07 | 深圳市海柔创新科技有限公司 | Carrying device and carrying robot with same |
WO2021098782A1 (en) * | 2019-11-19 | 2021-05-27 | 深圳市海柔创新科技有限公司 | Carrying device and carrying robot |
EP4063300A4 (en) * | 2019-11-19 | 2023-01-18 | DSC Logistics (Beijing) Co., Ltd. | Carrying apparatus, carrying robot, counting method, and counting system |
CN111646082B (en) * | 2019-11-29 | 2022-11-11 | 北京极智嘉科技股份有限公司 | Container storage system, warehousing system, robot control method and robot |
CN111003397A (en) * | 2019-12-04 | 2020-04-14 | 云南昆船智能装备有限公司 | Light multidirectional stacking AGV |
US11230435B1 (en) * | 2019-12-12 | 2022-01-25 | Amazon Technologies, Inc. | Multi-asin consolidation and transportation system |
US11420823B1 (en) | 2019-12-12 | 2022-08-23 | Amazon Technologies, Inc. | Consolidation and transportation of items |
CN111137610A (en) * | 2019-12-26 | 2020-05-12 | 北京极智嘉科技有限公司 | Container carrying method and device based on intensive storage |
CN111232524B (en) * | 2020-03-09 | 2023-06-13 | 深圳市海柔创新科技有限公司 | Method and device for controlling transfer robot and transfer robot |
JP7465364B2 (en) * | 2020-03-09 | 2024-04-10 | ハイ ロボティクス カンパニー リミテッド | Loading/unloading equipment, loading/unloading system, and loading/unloading method |
WO2021180039A1 (en) * | 2020-03-09 | 2021-09-16 | 深圳市海柔创新科技有限公司 | Method and device for controlling carrying robot, vertical bracket and carrying robot |
CN113493171B (en) * | 2020-03-19 | 2023-05-02 | 深圳市泓腾生物科技有限公司 | Intelligent clamping device for cage |
CN111348367A (en) * | 2020-04-27 | 2020-06-30 | 北京极智嘉科技有限公司 | Get packing box equipment |
GB2594516A (en) * | 2020-05-01 | 2021-11-03 | Edwards Vacuum Llc | Transport device and method of moving vacuum system components in a confined space |
CN113657821B (en) * | 2020-05-12 | 2024-08-20 | 北京京东乾石科技有限公司 | Warehouse-in method and device |
CN111605958A (en) * | 2020-06-10 | 2020-09-01 | 北京极智嘉科技有限公司 | Transfer robot and warehouse logistics system |
CN113264313A (en) * | 2020-06-12 | 2021-08-17 | 深圳市海柔创新科技有限公司 | Shooting method for picking up/putting down goods, shooting module and transfer robot |
CN111792570A (en) * | 2020-06-30 | 2020-10-20 | 京良(广州)科技股份有限公司 | Forklift robot with information tracing function |
CN111824668B (en) * | 2020-07-08 | 2022-07-19 | 北京极智嘉科技股份有限公司 | Robot and robot-based container storage and retrieval method |
JP7527888B2 (en) | 2020-08-13 | 2024-08-05 | 株式会社東芝 | Control device and cargo handling system |
CN111908383B (en) * | 2020-08-18 | 2023-07-18 | 诺力智能装备股份有限公司 | Tray linkage calibration device and method |
CN112027472B (en) * | 2020-09-08 | 2021-12-31 | 北京极智嘉科技股份有限公司 | Warehouse carrying and scheduling system and control method |
CN114162577A (en) * | 2020-09-11 | 2022-03-11 | 上海大界机器人科技有限公司 | Construction connection system and method |
CN114379969B (en) * | 2020-10-16 | 2023-06-27 | 北京极智嘉科技股份有限公司 | Inventory container handling system and method |
US11978012B2 (en) | 2020-10-28 | 2024-05-07 | United Parcel Service Of America, Inc. | Locating, identifying, and shifting objects in automated or semi-automated fashion including during transit |
US20220129832A1 (en) * | 2020-10-28 | 2022-04-28 | United Parcel Service Of America, Inc. | Locating, identifying, and shifting objects in automated or semi-automated fashion including during transit |
US11887048B2 (en) | 2020-10-28 | 2024-01-30 | United Parcel Service Of America, Inc. | Locating, identifying, and shifting objects in automated or semi-automated fashion including during transit |
CN112249117A (en) * | 2020-10-29 | 2021-01-22 | 付桂华 | Concrete slab transferring device and transferring method thereof |
KR20220066714A (en) * | 2020-11-16 | 2022-05-24 | 삼성에스디에스 주식회사 | Automated guided vehicle and method for transporting electrode reel core using thereof |
CN112499079B (en) * | 2020-11-17 | 2022-01-28 | 温州职业技术学院 | Storage management system based on internet |
EP4247595A1 (en) * | 2020-11-18 | 2023-09-27 | The Rubic Technologies Inc. | Robotic apparatuses, systems, and methods for moving objects |
CN112407724B (en) * | 2020-11-20 | 2022-04-19 | 深圳市海柔创新科技有限公司 | Space distribution method, goods storage method, device, robot and warehousing system |
CN114516506A (en) * | 2020-11-20 | 2022-05-20 | 深圳市海柔创新科技有限公司 | Goods sorting method, equipment, warehousing system and storage medium |
CN112407727B (en) * | 2020-11-20 | 2022-12-27 | 深圳市海柔创新科技有限公司 | Goods storage method, device, robot, warehousing system and storage medium |
CN112659834A (en) * | 2020-12-23 | 2021-04-16 | 神华铁路装备有限责任公司 | Shock-absorbing structure and automatic guide carrier loader |
CN114684744A (en) * | 2020-12-30 | 2022-07-01 | 深圳市海柔创新科技有限公司 | Fork subassembly and transfer robot |
CN112720578B (en) * | 2020-12-30 | 2022-06-07 | 炬星科技(深圳)有限公司 | Method, terminal and storage medium for robot to collect position information |
CN112830237A (en) * | 2021-01-13 | 2021-05-25 | 广东智源机器人科技有限公司 | Movement control method, device, equipment and cooking system |
US20240092579A1 (en) * | 2021-01-21 | 2024-03-21 | Beijing Geekplus Technology Co., Ltd. | Container conveying system and robot |
CN112757253A (en) * | 2021-01-27 | 2021-05-07 | 德鲁动力科技(成都)有限公司 | Intelligent transfer robot |
JP7528813B2 (en) * | 2021-02-16 | 2024-08-06 | トヨタ自動車株式会社 | TRANSPORT SYSTEM AND TRANSPORT METHOD |
DE102021103799A1 (en) * | 2021-02-18 | 2022-08-18 | Jungheinrich Aktiengesellschaft | INDUSTRIAL TRUCK WITH DETECTION DEVICES ON THE FORKS |
CN113086467B (en) * | 2021-03-24 | 2023-05-23 | 北京极智嘉科技股份有限公司 | Robot and bin detection method based on robot |
USD999798S1 (en) * | 2021-04-07 | 2023-09-26 | Hai Robotics Co., Ltd. | Storage robot |
KR102326542B1 (en) | 2021-05-13 | 2021-11-12 | 공부식 | Trading system of apartment materials |
CN113200275B (en) * | 2021-05-20 | 2023-02-28 | 深圳市库宝软件有限公司 | Packing box arranging method, device, equipment, storage system and storage medium |
CN113247493B (en) * | 2021-06-08 | 2021-09-21 | 山东明基环境发展有限公司 | Garbage truck docking system and working method thereof |
CN113335827B (en) * | 2021-06-18 | 2023-03-14 | 深圳市海柔创新科技有限公司 | Material adjusting method and equipment |
CN113479822B (en) * | 2021-08-04 | 2023-02-10 | 杭州海康机器人股份有限公司 | Conveying device |
CN113734319A (en) * | 2021-09-03 | 2021-12-03 | 昆山合泰智能科技发展有限公司 | Mask version carrier |
JP1717349S (en) * | 2021-09-14 | 2022-06-14 | Storage robot | |
JP1717350S (en) * | 2021-09-14 | 2022-06-14 | Storage robot | |
USD995596S1 (en) * | 2021-09-14 | 2023-08-15 | Hai Robotics Co., Ltd. | Warehouse robot |
USD1024156S1 (en) * | 2021-09-23 | 2024-04-23 | Hai Robotics Co., Ltd. | Warehouse robot |
USD1035733S1 (en) * | 2021-09-23 | 2024-07-16 | Hai Robotics Co., Ltd. | Handling device of warehouse robot |
USD1032677S1 (en) * | 2021-10-19 | 2024-06-25 | Hai Robotics Co., Ltd. | Loading and unloading device |
USD1015396S1 (en) * | 2021-10-19 | 2024-02-20 | Hai Robotics Co., Ltd. | Warehouse robot |
USD1009961S1 (en) * | 2021-10-19 | 2024-01-02 | Hai Robotics Co., Ltd. | Warehouse robot |
JP1730644S (en) * | 2021-10-20 | 2022-11-25 | support unit | |
JP1738502S (en) * | 2021-10-28 | 2023-03-07 | Conveyor robot | |
KR20240047429A (en) * | 2021-10-29 | 2024-04-12 | 엘지전자 주식회사 | delivery robot |
USD995595S1 (en) * | 2021-11-02 | 2023-08-15 | Hai Robotics Co., Ltd. | Warehouse robot |
USD995594S1 (en) * | 2021-11-02 | 2023-08-15 | Hai Robotics Co., Ltd. | Warehouse robot |
CN114445971B (en) * | 2021-11-04 | 2022-11-29 | 湖南开放大学(湖南省干部教育培训网络学院) | Intelligent express room for network sales |
CN114084564B (en) * | 2021-12-01 | 2024-02-27 | 合肥市极点智库智能装备有限公司 | High-precision narrow roadway natural navigation AGV |
CN114291472B (en) * | 2021-12-31 | 2023-12-26 | 西安航天动力研究所 | Automatic go up multilayer transfer device of unloading |
CN114261673B (en) * | 2022-01-18 | 2023-10-27 | 广东电网有限责任公司 | AGV track auxiliary device |
JP7240038B1 (en) | 2022-01-27 | 2023-03-15 | ユーピーアール株式会社 | Baggage location management system |
CN114379991B (en) * | 2022-01-28 | 2024-07-02 | 云南滇东雨汪能源有限公司 | Spare part transfer equipment for installation of coal mining machine |
USD1010702S1 (en) * | 2022-02-28 | 2024-01-09 | Hai Robotics Co., Ltd. | Warehousing robot |
JP1744349S (en) * | 2022-03-30 | 2023-05-17 | Conveyor robot | |
USD1031807S1 (en) * | 2022-04-01 | 2024-06-18 | Hai Robotics Co., Ltd. | Carrying unit of warehousing robot |
CN114701783A (en) * | 2022-04-01 | 2022-07-05 | 普罗格智芯科技(湖北)有限公司 | Intelligent warehousing system and automatic goods taking and placing method thereof |
USD1024155S1 (en) * | 2022-05-31 | 2024-04-23 | Beijing Geekplus Technology Co., Ltd. | Sorting machine for handling goods |
CN114988038A (en) * | 2022-06-20 | 2022-09-02 | 北京京东乾石科技有限公司 | Unmanned haulage equipment |
CN115123763A (en) * | 2022-06-27 | 2022-09-30 | 东风汽车集团股份有限公司 | Automatic guide transport vehicle and control method thereof, centralized distribution system and centralized distribution method |
WO2024021395A1 (en) * | 2022-07-25 | 2024-02-01 | 上海快仓智能科技有限公司 | Transport device, transport robot and warehousing system |
KR102620930B1 (en) * | 2022-09-27 | 2024-01-08 | 현대글로비스 주식회사 | Handler equipment for unmanned delivery box |
USD1029903S1 (en) * | 2022-09-30 | 2024-06-04 | Direct Cursus Technology L.L.C | Industrial robot |
CN115357033B (en) * | 2022-10-21 | 2023-01-10 | 合肥焕智科技有限公司 | Operation control method for AGV robot |
CN115520416A (en) * | 2022-11-09 | 2022-12-27 | 苏州鸿昱莱机电科技有限公司 | Three-axis feeding and pot loading machine and operation method thereof |
CN116331829B (en) * | 2023-05-29 | 2023-07-25 | 中国农业大学烟台研究院 | Industrial carrying robot based on computer |
CN116923944B (en) * | 2023-09-11 | 2024-01-05 | 北京大学 | Front bin cargo allocation robot based on visual identification |
CN117088027B (en) * | 2023-09-25 | 2024-03-12 | 滁州赛迩斯数字技术有限公司 | Tunnel stacker |
CN117550274B (en) * | 2024-01-11 | 2024-03-22 | 天津联汇智造科技有限公司 | Semi-finished product automatic picking and placing system and method |
Family Cites Families (154)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3556329A (en) * | 1969-09-18 | 1971-01-19 | Dresser Ind | Stacker crane with an extensible load support means |
US3549025A (en) * | 1969-10-09 | 1970-12-22 | Clark Equipment Co | Side loader device |
US3727778A (en) * | 1971-07-08 | 1973-04-17 | Drexel Ind Inc | Material handling system |
JPS5316732Y2 (en) | 1973-05-17 | 1978-05-04 | ||
JPS5160504A (en) | 1974-11-25 | 1976-05-26 | Kazumi Maemoto | KIKAISHIKIJIDOHANTENTEEPUREKOODAA |
SU867871A1 (en) | 1979-08-06 | 1981-09-30 | Центральный научно-исследовательский институт материалов и технологии тяжелого и транспортного машиностроения | Stacker crane for operation with multilevel racks |
GB2080265A (en) * | 1980-07-03 | 1982-02-03 | Farr Kenneth | Warehousing |
US4458808A (en) * | 1981-05-26 | 1984-07-10 | Loomer Weston R | Shuttle table drive mechanism |
US4492504A (en) * | 1981-12-07 | 1985-01-08 | Bell & Howell Company | Materials handling system |
JPS6160504A (en) * | 1984-09-03 | 1986-03-28 | Hitachi Ltd | Travel stop control method of traveling body |
EP0235488B1 (en) * | 1986-09-19 | 1990-01-24 | REDOUTE CATALOGUE Société Anonyme: | Robotic handling system |
SU1370017A1 (en) * | 1986-08-20 | 1988-01-30 | Предприятие П/Я В-8733 | Telescopic grip |
GB2201938B (en) * | 1987-03-11 | 1991-09-04 | Honda Motor Co Ltd | Automated loading/unloading equipment |
DE3725795A1 (en) * | 1987-08-04 | 1989-02-16 | Messerschmitt Boelkow Blohm | DRIVERLESS CONVEYOR VEHICLE |
JPH01111611A (en) | 1987-10-19 | 1989-04-28 | Nippon Kinsen Kikai Kk | Coin packing machine |
US5104277A (en) * | 1989-04-06 | 1992-04-14 | Hewlett-Packard Company | Method and apparatus for automatically changing printed circuit board test fixtures |
JPH03152007A (en) * | 1989-11-08 | 1991-06-28 | Yonei:Kk | Travelling type input output crane |
CH680212A5 (en) | 1990-03-16 | 1992-07-15 | Fritschi Ag Hugo | Shelf service equipment for high level shelf storage - enables bundles to circulate on intermediate storage conveyor which allows access to other bundles behind them |
JPH047509U (en) * | 1990-05-11 | 1992-01-23 | ||
JPH0747403B2 (en) * | 1990-05-22 | 1995-05-24 | インベストロニカ・ソシエダッド・アノニマ | Program-controlled box / container operation / transfer device |
JPH06239410A (en) | 1993-02-10 | 1994-08-30 | Hitachi Ltd | Crane control for stocking and delivering operation in warehouse |
JP3152007B2 (en) | 1993-03-30 | 2001-04-03 | 株式会社ノーリツ | Bathtub water level circulation determination method |
IT1266108B1 (en) | 1993-07-15 | 1996-12-20 | Nordica Spa | IMPROVED LATERAL SEAL SKI BOOT STRUCTURE |
CA2144886A1 (en) * | 1995-03-17 | 1996-09-18 | William J. Doherty | Video camera guidance system for forklifts |
JPH1111611A (en) | 1997-06-26 | 1999-01-19 | Toyota Autom Loom Works Ltd | Double reach type automatic warehouse |
JP3887904B2 (en) * | 1997-09-10 | 2007-02-28 | 株式会社豊田自動織機 | Control device for transfer device for stacker crane |
GB2336838B (en) | 1998-04-30 | 2001-11-21 | Indumat Gmbh & Co Kg | Driverless transport vehicle |
DE29808762U1 (en) | 1998-04-30 | 1998-11-05 | Indumat GmbH & Co KG Transport- und Lagersysteme, 72770 Reutlingen | Driverless transport vehicle |
CN2348704Y (en) | 1998-05-22 | 1999-11-17 | 张俊生 | Telescopic goods fork |
US7096489B2 (en) | 2000-08-28 | 2006-08-22 | Sony Corporation | System and method for interactive television |
US7320385B2 (en) | 2001-02-16 | 2008-01-22 | Kabushiki Kaisha Toyota Jidoshokki | Camera lifting apparatus and cargo handling operation aiding apparatus in industrial vehicle and industrial vehicle |
JP3682547B2 (en) | 2001-07-16 | 2005-08-10 | 村田機械株式会社 | Automated guided vehicle system |
JP2003237908A (en) * | 2002-02-15 | 2003-08-27 | Murata Mach Ltd | Stacker crane |
JP4029644B2 (en) * | 2002-03-29 | 2008-01-09 | 株式会社ダイフク | Goods storage facility |
US6923612B2 (en) * | 2002-03-29 | 2005-08-02 | TGW Transportgeräte GmbH & Co. KG | Load-handling system and telescopic arm therefor |
FR2844258B1 (en) | 2002-09-06 | 2005-06-03 | Recif Sa | SYSTEM FOR TRANSPORTING AND STORING SEMICONDUCTOR PLATE CONTAINERS, AND TRANSFER MECHANISM |
KR101544699B1 (en) * | 2002-10-11 | 2015-08-18 | 무라다기카이가부시끼가이샤 | Overhead hoist transport vehicle with overhead hoist |
US7344037B1 (en) * | 2002-11-18 | 2008-03-18 | Mi-Jack Products, Inc. | Inventory storage and retrieval system and method with guidance for load-handling vehicle |
US7386798B1 (en) | 2002-12-30 | 2008-06-10 | Aol Llc | Sharing on-line media experiences |
FI20030748A0 (en) | 2003-05-20 | 2003-05-20 | Jl Suunnittelu Lakome Oy | Method and apparatus for multipurpose storage |
AT500228B1 (en) | 2003-05-20 | 2007-07-15 | Tgw Transportgeraete Gmbh | TELESKOPSCHUBARM, ESPECIALLY FOR A LASTEUFNAHMEVORRICHTUNG |
US7591630B2 (en) * | 2003-08-29 | 2009-09-22 | Casepick Systems, Llc | Materials-handling system using autonomous transfer and transport vehicles |
JP2006088235A (en) * | 2004-09-21 | 2006-04-06 | Hirata Corp | Substrate transfer-loading robot device |
CN2766681Y (en) | 2004-12-15 | 2006-03-29 | 郑善兴 | Lift type stereo container with article temporary deposit region |
JP4756367B2 (en) | 2006-08-17 | 2011-08-24 | 株式会社ダイフク | Goods storage equipment |
FR2905886B1 (en) | 2006-09-14 | 2008-11-21 | Abb Mc Soc Par Actions Simplif | WORKING STATION WITH MULTIFACE PIECE SUPPORT AND METHOD FOR CONTROLLING SUCH A STATION |
US7561008B2 (en) | 2006-10-31 | 2009-07-14 | Azure Dynamics, Inc. | Filter package |
JP5229442B2 (en) | 2007-03-27 | 2013-07-03 | いすゞ自動車株式会社 | Automated guided vehicle body |
DE102007029887A1 (en) * | 2007-06-28 | 2009-01-02 | Still Wagner Gmbh | Industrial truck, storage system and method for finding targets in storage systems |
CN101397118A (en) | 2007-09-28 | 2009-04-01 | 中国国际海运集装箱(集团)股份有限公司 | Stacking machine |
DE102007063553A1 (en) * | 2007-12-21 | 2009-07-16 | Viastore Systems Gmbh | Storage and retrieval unit and method for operating a stacker crane |
KR20110023850A (en) | 2008-04-01 | 2011-03-08 | 베이징 쉥티안이 파킹 메니지먼트 캄파니 리미티드 | Multipurpose load lifting working platform or/and composite bridge structure |
JP5294450B2 (en) | 2008-08-18 | 2013-09-18 | 住友重機械工業株式会社 | Roll transfer device |
KR101551997B1 (en) | 2008-10-27 | 2015-09-09 | 디마틱 어카운팅 서비시즈 게엠베하 | Transfer shuttle for automated warehouse |
CN101412491B (en) | 2008-11-24 | 2011-02-16 | 北京康拓红外技术有限公司 | Fork mechanism of stacker |
US9321591B2 (en) * | 2009-04-10 | 2016-04-26 | Symbotic, LLC | Autonomous transports for storage and retrieval systems |
TWI680928B (en) * | 2009-04-10 | 2020-01-01 | 美商辛波提克有限責任公司 | Vertical lift system and method for transferring uncontained case unit to and from a multilevel storage structure |
JP2011020794A (en) | 2009-07-15 | 2011-02-03 | Murata Machinery Ltd | Transfer device |
EP2336838A1 (en) | 2009-12-15 | 2011-06-22 | Robert Bosch GmbH | Method and control device for aligning a stage in an electro chemical pattern reproduction process |
JP5598543B2 (en) * | 2010-06-17 | 2014-10-01 | 村田機械株式会社 | Transfer device and transfer method |
ES2351003B1 (en) * | 2010-06-29 | 2011-08-12 | Mecalux, S.A. | TRANSELEVATOR FOR THE HANDLING OF PALLETS, PADDLE EXTRACTION DEVICE AND GOODS STORAGE SYSTEM. |
JP2012056661A (en) * | 2010-09-07 | 2012-03-22 | Toyota Industries Corp | Package transporting robot and method for controlling the robot |
JP2012093278A (en) * | 2010-10-28 | 2012-05-17 | Toyota Industries Corp | Dimension measuring device and load transfer robot with dimension measuring device |
PL393225A1 (en) | 2010-12-13 | 2012-06-18 | Piotr Garmulewicz | Loading - discharging machine |
TWI654130B (en) * | 2010-12-15 | 2019-03-21 | 辛波提克有限責任公司 | Autonomous transport robot, suspension locking system for autonomous transport vehicles and suspension system for autonomous transport vehicles |
DE102011002322B4 (en) | 2011-04-28 | 2024-07-04 | Hartmut Lang | Storage and retrieval device for a rack warehouse and method for operating a storage and retrieval device |
JP5413413B2 (en) | 2011-07-19 | 2014-02-12 | 村田機械株式会社 | Automatic warehouse |
US9067744B2 (en) * | 2011-10-17 | 2015-06-30 | Kabushiki Kaisha Yaskawa Denki | Robot system, robot, and sorted article manufacturing method |
EP2634115B1 (en) | 2012-02-29 | 2014-09-03 | CareFusion Germany 326 GmbH | Method for operating a pharmacy picking device |
WO2014003417A1 (en) | 2012-06-25 | 2014-01-03 | 한양대학교 산학협력단 | Liquid crystal display device |
KR101806856B1 (en) * | 2012-08-31 | 2017-12-08 | 무라다기카이가부시끼가이샤 | Transfer device |
JP5930051B2 (en) | 2012-09-06 | 2016-06-08 | 村田機械株式会社 | Transfer equipment |
JP6003419B2 (en) | 2012-09-06 | 2016-10-05 | 村田機械株式会社 | Transfer equipment |
CN102825496A (en) * | 2012-09-13 | 2012-12-19 | 山东法因数控机械股份有限公司 | Automatic work piece loading-unloading robot |
CN103723421B (en) | 2012-10-11 | 2016-04-13 | 贵阳普天物流技术有限公司 | Multilayer is shuttled back and forth access Handling device |
NO335839B1 (en) | 2012-12-10 | 2015-03-02 | Jakob Hatteland Logistics As | Robot for transporting storage containers |
CN203229120U (en) | 2012-12-25 | 2013-10-09 | 云南昆船设计研究院 | Multilayer shuttle capable of storing and taking boxes of different specifications automatically |
TWI594933B (en) * | 2013-03-15 | 2017-08-11 | 辛波提克有限責任公司 | Automated storage and retrieval system |
US9227323B1 (en) * | 2013-03-15 | 2016-01-05 | Google Inc. | Methods and systems for recognizing machine-readable information on three-dimensional objects |
US9785911B2 (en) * | 2013-07-25 | 2017-10-10 | I AM Robotics, LLC | System and method for piece-picking or put-away with a mobile manipulation robot |
US10894663B2 (en) * | 2013-09-13 | 2021-01-19 | Symbotic Llc | Automated storage and retrieval system |
CN105723285B (en) | 2013-11-29 | 2018-10-12 | 惠普发展公司,有限责任合伙企业 | Holographic equipment, the method and system that alignment is realized using holographic |
JP6245975B2 (en) | 2013-12-25 | 2017-12-13 | トーヨーカネツソリューションズ株式会社 | Article storage auxiliary device and system using AR / VR |
JP6416590B2 (en) * | 2014-03-31 | 2018-10-31 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカPanasonic Intellectual Property Corporation of America | Material management system and transport robot |
DE102014007539A1 (en) | 2014-05-22 | 2015-11-26 | Daimler Ag | Apparatus and method for picking load carriers, in particular small load carriers |
KR101676715B1 (en) * | 2014-12-04 | 2016-11-17 | 주식회사 에스에프에이 | Stocker system and method for controlling the same |
US9850079B2 (en) * | 2015-01-23 | 2017-12-26 | Symbotic, LLC | Storage and retrieval system transport vehicle |
US9656806B2 (en) | 2015-02-13 | 2017-05-23 | Amazon Technologies, Inc. | Modular, multi-function smart storage containers |
CN104777835A (en) | 2015-03-11 | 2015-07-15 | 武汉汉迪机器人科技有限公司 | Omni-directional automatic forklift and 3D stereoscopic vision navigating and positioning method |
GB201504172D0 (en) * | 2015-03-12 | 2015-04-29 | Translift Bendi Ltd | Fork lift trucks |
CA2980686A1 (en) * | 2015-03-23 | 2016-09-29 | Rajesh MANPAT | Method and system for optimizing movement of products using robotic drive units (rdus) in a warehouse environment |
WO2016151505A1 (en) | 2015-03-23 | 2016-09-29 | Manpat Rajesh | Robotic drive unit with robotic inventory elevator |
JP6332115B2 (en) | 2015-04-06 | 2018-05-30 | 株式会社ダイフク | Goods storage equipment |
AT516410B1 (en) | 2015-04-22 | 2016-05-15 | Tgw Mechanics Gmbh | Method for storing piece goods in a storage rack and storage system |
CN204588619U (en) | 2015-04-29 | 2015-08-26 | 张爱峰 | Novel fork mounting machine extendible arm |
CN104875177B (en) * | 2015-05-19 | 2017-03-22 | 上海交通大学 | Intelligent book management robot |
KR101677497B1 (en) | 2015-05-22 | 2016-11-21 | 주식회사 에스엠코어 | A loading device of a stacker crane |
CN104966186A (en) * | 2015-07-06 | 2015-10-07 | 苏州华拓信息技术有限公司 | Novel internet-of-things storage method |
US10198706B2 (en) | 2015-07-31 | 2019-02-05 | Locus Robotics Corp. | Operator identification and performance tracking |
CN204873745U (en) | 2015-08-17 | 2015-12-16 | 西安航天自动化股份有限公司 | A bidirectional scalability formula fork for intelligence storage stacker |
CN113635319A (en) | 2015-09-11 | 2021-11-12 | 伯克希尔格雷股份有限公司 | Robot system and method for identifying and processing various objects |
US10370201B2 (en) * | 2015-11-13 | 2019-08-06 | Kabushiki Kaisha Toshiba | Transporting apparatus and transporting method |
JP6485333B2 (en) | 2015-11-18 | 2019-03-20 | 株式会社ダイフク | Article transfer device and article transfer equipment |
CN205438526U (en) | 2015-12-31 | 2016-08-10 | 天津禹汀科技有限公司 | Carrying robot |
EP3192616A1 (en) * | 2016-01-14 | 2017-07-19 | Magazino GmbH | Robot to pick up and transport objects and method using such a robot |
CN105600253B (en) | 2016-01-29 | 2018-05-29 | 安徽工程大学 | A kind of self-service express delivery, which is posted, takes device |
US20170322561A1 (en) | 2016-05-03 | 2017-11-09 | Bby Solutions, Inc. | Robotic inventory dispensary operational enhancements |
CN105774859B (en) | 2016-05-03 | 2018-07-06 | 哈尔滨工大服务机器人有限公司 | A kind of suspended structure differential for two-wheeled and trolley |
CN105752888B (en) * | 2016-05-11 | 2018-03-13 | 深圳普智联科机器人技术有限公司 | Robot fork truck with easy positioning function |
CN105775544B (en) | 2016-05-11 | 2018-05-11 | 深圳普智联科机器人技术有限公司 | Warehousing system and discharging of goods method with easy positioning function |
CN109809333B (en) * | 2016-05-23 | 2020-11-27 | 克朗设备公司 | System and method for using materials handling vehicles in a warehouse environment |
CN105945935A (en) * | 2016-06-24 | 2016-09-21 | 山东交通学院 | Multi-unit linear driving three-range-of-motion loading robot |
EP3479298A4 (en) * | 2016-06-30 | 2020-01-22 | Bossa Nova Robotics IP, Inc. | Multiple camera system for inventory tracking |
CN106379681B (en) * | 2016-07-11 | 2018-09-07 | 黄金刚 | A kind of intelligent storage robot, system and system control method |
CN106005866B (en) * | 2016-07-19 | 2018-08-24 | 青岛海通机器人系统有限公司 | A kind of intelligent warehousing system based on mobile robot |
US10071856B2 (en) * | 2016-07-28 | 2018-09-11 | X Development Llc | Inventory management |
CN106081455B (en) * | 2016-07-29 | 2018-08-07 | 深圳普智联科机器人技术有限公司 | A kind of storage robot fork truck based on cross beam type storage rack |
CN106044645B (en) * | 2016-08-02 | 2018-07-17 | 诺力机械股份有限公司 | A kind of cargo pallet access system and its access method based on Quick Response Code positioning |
CN106276011A (en) | 2016-08-26 | 2017-01-04 | 无锡卓信信息科技股份有限公司 | A kind of articles from the storeroom based on mobile robot searches control system |
US10683171B2 (en) * | 2016-09-30 | 2020-06-16 | Staples, Inc. | Hybrid modular storage fetching system |
US10803420B2 (en) * | 2016-09-30 | 2020-10-13 | Staples, Inc. | Hybrid modular storage fetching system |
US10589931B2 (en) | 2016-09-30 | 2020-03-17 | Staples, Inc. | Hybrid modular storage fetching system |
US10106383B2 (en) | 2016-10-09 | 2018-10-23 | Zhejiang Guozi Robot Technology Co. Ltd. | Inventory item management system, transporting robots and the method for transporting inventory holder |
CN106426077A (en) | 2016-10-14 | 2017-02-22 | 苏州得尔达国际物流有限公司 | Intelligent warehouse transfer robot |
CN106429148A (en) * | 2016-10-26 | 2017-02-22 | 长沙开元仪器股份有限公司 | Storage device |
CN206373907U (en) | 2016-12-08 | 2017-08-04 | 天津职业技术师范大学 | A kind of Intelligent logistics dispensing machine people based on RFID technique |
CN206569571U (en) | 2017-01-16 | 2017-10-20 | 浙江国自机器人技术有限公司 | A kind of robot for carrying container |
CN108382880A (en) | 2017-01-16 | 2018-08-10 | 浙江国自机器人技术有限公司 | A kind of automatic guided vehicle and its working method with automatic loading and unloading loading system |
SG11201906596SA (en) | 2017-01-16 | 2019-08-27 | Zhejiang Guozi Robotics Co Ltd | Robot for carrying container |
CN106927179B (en) * | 2017-01-16 | 2019-03-19 | 黄金刚 | A kind of control method of intelligent warehousing system |
WO2018140471A1 (en) | 2017-01-24 | 2018-08-02 | Oceaneering Internatiional, Inc. | Automated guided vehicle and method of use |
CN106892014B (en) * | 2017-02-22 | 2019-08-13 | 华中科技大学 | A kind of planet gear type barrier-surpassing robot suitable for rotating ladder |
US10343881B2 (en) | 2017-04-24 | 2019-07-09 | Ching Qing Guo | Automatic batch picking robot |
CN107253201B (en) * | 2017-06-14 | 2023-03-10 | 电子科技大学 | Material shooting robot |
CN109064090B (en) | 2017-07-11 | 2021-08-17 | 浙江国自机器人技术股份有限公司 | Goods picking prompting method and device |
CN107226310A (en) * | 2017-07-13 | 2017-10-03 | 武汉九州通物流有限公司 | A kind of AGV tears zero sorting trolley and method open |
CN107336212A (en) | 2017-07-25 | 2017-11-10 | 芜湖超源力工业设计有限公司 | A kind of transfer robot |
DE102017219739A1 (en) | 2017-11-07 | 2019-05-09 | Vetter Industrie GmbH | Liftable and lowerable load handler with a cable guide in telescopic forks |
CN108122016B (en) * | 2017-11-14 | 2020-11-17 | 东莞市海柔智能科技有限公司 | Method and device for automatically storing and taking goods |
CN108069180A (en) * | 2017-11-14 | 2018-05-25 | 深圳市海柔创新科技有限公司 | Robot |
CN118410821A (en) | 2017-11-14 | 2024-07-30 | 深圳市海柔创新科技有限公司 | Transfer robot and goods taking method based on transfer robot |
US11465840B2 (en) * | 2017-11-14 | 2022-10-11 | Hai Robotics Co., Ltd. | Handling robot |
US11396424B2 (en) * | 2017-11-14 | 2022-07-26 | Hai Robotics Co., Ltd. | Handling robot |
US12006143B2 (en) * | 2017-11-14 | 2024-06-11 | Hai Robotics Co., Ltd. | Handling robot |
CN207684811U (en) | 2017-11-27 | 2018-08-03 | 天津纳诺泰克科技有限公司 | A kind of folding elevating type fork truck auxiliary stand |
US10613533B1 (en) * | 2017-12-11 | 2020-04-07 | Amazon Technologies, Inc. | Autonomous delivery and retrieval of inventory holders at transfer locations |
CN108190341A (en) | 2018-02-02 | 2018-06-22 | 尊道(上海)自动化设备有限公司 | A kind of four-way walking promotes logistics and carries warehouse trucks |
CN108408316A (en) * | 2018-04-26 | 2018-08-17 | 北京极智嘉科技有限公司 | Haulage equipment |
US11427405B1 (en) | 2018-07-13 | 2022-08-30 | Vecna Robotics, Inc. | System and method of retrieving containers in a hybrid environment |
CN209023571U (en) | 2018-09-07 | 2019-06-25 | 深圳市海柔创新科技有限公司 | A kind of transfer robot |
CN209160601U (en) * | 2018-09-07 | 2019-07-26 | 深圳市海柔创新科技有限公司 | A kind of transfer robot |
US11597598B2 (en) * | 2019-02-01 | 2023-03-07 | Hai Robotics Co., Ltd. | Handling robot |
CN209758195U (en) * | 2019-02-01 | 2019-12-10 | 深圳市海柔创新科技有限公司 | Transfer robot |
US11542135B2 (en) * | 2019-02-01 | 2023-01-03 | Hai Robotics Co., Ltd. | Handling robot |
-
2018
- 2018-09-07 CN CN202410496633.XA patent/CN118410821A/en active Pending
- 2018-09-07 KR KR1020217037858A patent/KR102385397B1/en active IP Right Grant
- 2018-09-07 KR KR1020237027633A patent/KR102685497B1/en active IP Right Grant
- 2018-09-07 RU RU2020119332A patent/RU2754121C1/en active
- 2018-09-07 WO PCT/CN2018/104654 patent/WO2019095804A1/en unknown
- 2018-09-07 CN CN202111449841.7A patent/CN114021680B/en active Active
- 2018-09-07 JP JP2019572756A patent/JP6838178B2/en active Active
- 2018-09-07 KR KR1020237001257A patent/KR102568369B1/en active IP Right Grant
- 2018-09-07 DE DE202018006723.7U patent/DE202018006723U1/en active Active
- 2018-09-07 CA CA3082510A patent/CA3082510C/en active Active
- 2018-09-07 MY MYPI2020002371A patent/MY189257A/en unknown
- 2018-09-07 SG SG11202004495PA patent/SG11202004495PA/en unknown
- 2018-09-07 KR KR1020217038361A patent/KR102439052B1/en active IP Right Grant
- 2018-09-07 EP EP18878478.9A patent/EP3710381A4/en active Pending
- 2018-09-07 NZ NZ765306A patent/NZ765306A/en unknown
- 2018-09-07 EP EP18879979.5A patent/EP3712815B1/en active Active
- 2018-09-07 NZ NZ765310A patent/NZ765310A/en unknown
- 2018-09-07 JP JP2020545419A patent/JP6970831B2/en active Active
- 2018-09-07 SG SG11202004492WA patent/SG11202004492WA/en unknown
- 2018-09-07 CN CN201880024747.7A patent/CN110537189B/en active Active
- 2018-09-07 CN CN201880073998.4A patent/CN111433139A/en active Pending
- 2018-09-07 DE DE202018006724.5U patent/DE202018006724U1/en active Active
- 2018-09-07 KR KR1020207004553A patent/KR102332706B1/en active IP Right Grant
- 2018-09-07 CA CA3084526A patent/CA3084526C/en active Active
- 2018-09-07 KR KR1020227010494A patent/KR102488994B1/en active IP Right Grant
- 2018-09-07 WO PCT/CN2018/104652 patent/WO2019095803A1/en unknown
- 2018-09-07 RU RU2020119331A patent/RU2751736C1/en active
- 2018-09-07 CA CA3152890A patent/CA3152890C/en active Active
- 2018-09-07 EP EP23213684.6A patent/EP4306478A3/en active Pending
- 2018-09-07 KR KR1020207016862A patent/KR102332766B1/en active IP Right Grant
- 2018-09-07 AU AU2018368406A patent/AU2018368406B2/en active Active
- 2018-09-07 US US16/476,126 patent/US11718472B2/en active Active
- 2018-09-07 MY MYPI2020002359A patent/MY188417A/en unknown
- 2018-09-07 DE DE202018006768.7U patent/DE202018006768U1/en active Active
- 2018-09-07 AU AU2018368407A patent/AU2018368407B2/en active Active
-
2019
- 2019-07-31 CN CN201921248682.2U patent/CN210557157U/en not_active Ceased
- 2019-07-31 CN CN201910703479.8A patent/CN110498172A/en active Pending
-
2020
- 2020-05-13 US US15/931,496 patent/US11104514B2/en active Active
- 2020-06-10 RU RU2021120451A patent/RU2765396C2/en active
- 2020-07-29 KR KR1020227002267A patent/KR20220024865A/en not_active Application Discontinuation
- 2020-07-29 JP JP2022506403A patent/JP7359940B2/en active Active
- 2020-07-29 WO PCT/CN2020/105514 patent/WO2021018193A1/en unknown
- 2020-07-29 EP EP20847847.9A patent/EP4005948A4/en active Pending
-
2021
- 2021-02-09 JP JP2021019123A patent/JP7183317B2/en active Active
- 2021-07-26 US US17/385,811 patent/US20210354915A1/en active Pending
- 2021-10-29 JP JP2021177325A patent/JP7223099B2/en active Active
- 2021-11-12 AU AU2021266330A patent/AU2021266330B2/en active Active
-
2022
- 2022-01-27 US US17/585,828 patent/US20220153522A1/en active Pending
- 2022-05-13 AU AU2022203237A patent/AU2022203237B2/en active Active
- 2022-11-21 JP JP2022185896A patent/JP7446394B2/en active Active
-
2023
- 2023-02-02 JP JP2023014611A patent/JP2023041865A/en active Pending
- 2023-08-10 AU AU2023214308A patent/AU2023214308A1/en active Pending
-
2024
- 2024-02-27 JP JP2024027422A patent/JP2024055927A/en active Pending
Also Published As
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP4005948A1 (en) | Method for controlling warehouse robot to store and retrieve inventory material | |
US11794995B2 (en) | Handling robot | |
JP2021502940A5 (en) | ||
CN210794517U (en) | Transfer robot | |
US11794996B2 (en) | Handling robot | |
US11052535B2 (en) | Floor-to-height object retrieval robot | |
EP3484668B1 (en) | Autonomous controls for a robotic carton unloader | |
CN218433070U (en) | Container taking and returning device and transfer robot | |
US20240043207A1 (en) | Handling robot | |
RU2780641C1 (en) | Automatically steered vehicle for warehouse | |
RU2796024C1 (en) | Automatically steered vehicle for warehouse | |
RU2789282C1 (en) | Automatically steered vehicle for warehouse | |
CN112573060B (en) | Transfer robot | |
NZ786624A (en) | Automated guided vehicle designed for warehouse | |
WO2023223718A1 (en) | Conveyance apparatus, conveyance control system, and control method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE |
|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
|
17P | Request for examination filed |
Effective date: 20220121 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
|
DAV | Request for validation of the european patent (deleted) | ||
DAX | Request for extension of the european patent (deleted) | ||
A4 | Supplementary search report drawn up and despatched |
Effective date: 20221212 |
|
RIC1 | Information provided on ipc code assigned before grant |
Ipc: G06Q 10/08 20120101ALN20221206BHEP Ipc: B66F 9/08 20060101ALI20221206BHEP Ipc: B66F 9/12 20060101ALI20221206BHEP Ipc: B66F 9/06 20060101ALI20221206BHEP Ipc: B65G 1/137 20060101ALI20221206BHEP Ipc: B65G 1/04 20060101AFI20221206BHEP |